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Aerotech XR3 Hardware Manual

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XR3 HARDWARE MANUAL
Revision: 1.03.00

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Summary of Contents for Aerotech XR3

  • Page 1: Xr3 Hardware Manual

    XR3 HARDWARE MANUAL Revision: 1.03.00...
  • Page 2 This manual contains proprietary information and may not be reproduced, disclosed, or used in whole or in part without the express written permission of Aerotech, Inc. Product names mentioned herein are used for identification purposes only and may be trademarks of their respective companies.

  • Page 3: Table Of Contents

    XR3 Hardware Manual Table of Contents Table of Contents XR3 HARDWARE MANUAL Table of Contents List of Figures List of Tables EU Declaration of Conformity Agency Approvals Safety Procedures and Warnings Quick Installation Guide Chapter 1: Introduction 1.1. Electrical Specifications 1.1.1. System Power Requirements 1.2.
  • Page 4 Table of Contents XR3 Hardware Manual 2.7. DOUT Connector (Digital Outputs) 2.8. DIN Connector (Digital Inputs) 2.9. Aux Encoder Connectors 2.10. Analog I/O Connectors 2.10.1. Analog Outputs 2.10.2. Analog Inputs (Differential) 2.10.3. Joystick Interface 2.11. Safe Torque Off Input (STO) 2.11.1. STO Standards 2.11.2. STO Functional Description 2.11.3.

  • Page 5: List Of Figures

    XR3 Hardware Manual List of Figures List of Figures Figure 1-1: Functional Diagram Figure 1-2: Dimensions with Chassis Slides Figure 1-3: Dimensions without Chassis Slides Figure 2-1: Power and Control Connections Figure 2-2: Power Switch Figure 2-3: Brushless Motor Configuration...
  • Page 6 List of Figures XR3 Hardware Manual Figure B-1: Voltage Selection Switch Access www.aerotech.com...

  • Page 7: List Of Tables

    Main AC Power Input Voltages and Current Requirements Table 2-2: I/O and Signal Specifications Table 2-3: Maximum Energy That The XR3 Can Safely Absorb During Regeneration Table 2-4: Motor Power Output Connector Pinout Table 2-5: Mating Connector Part Numbers for the Motor Power Output Connector...
  • Page 8 List of Tables XR3 Hardware Manual Table 2-44: Joystick Interface Pins on the Analog I/O Connectors Table 2-45: STO Connector Pinout Table 2-46: Mating Connector Part Numbers for the STO Connector Table 2-47: STO Electrical Specifications Table 2-48: STO Standards Table 2-49: STO Standards Data Table 2-50: STO Signal Delay...

  • Page 9: Eu Declaration Of Conformity

    XR3 Hardware Manual EU Declaration of Conformity EU Declaration of Conformity Manufacturer Aerotech, Inc. Address 101 Zeta Drive Pittsburgh, PA 15238-2811 Product Model/Types This is to certify that the aforementioned product is in accordance with the applicable requirements of the...
  • Page 10 EU Declaration of Conformity XR3 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 11: Agency Approvals

    Certificate #: Z10 068995 0030 Rev. 00 Standards: IEC 61508-1:2010 (up to SIL 3) Visit https://www.tuev-sued.de/product-testing/certificates to view Aerotech's TÜV SÜD certificates. Type the certificate number listed above in the search bar or type "Aerotech" for a list of all Aerotech certificates. www.aerotech.com...
  • Page 12 Agency Approvals XR3 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 13: Safety Procedures And Warnings

    Safety Procedures and Warnings This manual tells you how to carefully and correctly use and operate the XR3. Read all parts of this manual before you install or operate the XR3 or before you do maintenance to your system. To prevent injury to you and damage to the equipment, obey the precautions in this manual.
  • Page 14 Safety Procedures and Warnings XR3 Hardware Manual WARNING: To prevent damage to the equipment and decrease the risk of electrical shock, injury, and death, you must obey the precautions that follow. 1. Make sure that all system cables are correctly attached and positioned.

  • Page 15: Quick Installation Guide

    Quick Installation Guide Quick Installation Guide This image shows the order in which to make connections and settings that are typical to the XR3. If a custom interconnect drawing was supplied with your system, that drawing is on your Storage Device and shows as a line item on your Sales Order in the Integration section.
  • Page 16 Quick Installation Guide XR3 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 17: Chapter 1: Introduction

    XR3 Hardware Manual Chapter 1: Introduction 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 Two independent bus supplies (factory configured) Section 1.1.

  • Page 18: Table 1-2: Configurations And Options

    Chapter 1: Introduction XR3 Hardware Manual Table 1-2: Configurations and Options Input Line Voltage -VL1 115 VAC -VL2 230 VAC -VL3 100 VAC -VL4 200 VAC Bus Voltage 1 and Bus Voltage 2 Configurations Bus Voltage 1 (Required) Bus Voltage 2 (Optional)
  • Page 19 XR3 Hardware Manual Chapter 1: Introduction Cooling Options Section 2.13. Built-in fan pulls cooling air from left side through the amplifier compartment No cooling fan. External cooling through vented covers is required. 1U-high fan tray for cooling Mounting Options Section 1.2.

  • Page 20: Figure 1-1: Functional Diagram

    Chapter 1: Introduction XR3 Hardware Manual The block diagram that follows shows a summary of the connector signals. Figure 1-1: Functional Diagram www.aerotech.com...

  • Page 21: Electrical Specifications

    AC Power Input 200 VAC (180-224 VAC, 50/60 Hz) 230 VAC (207-254 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 Peak...

  • Page 22: Table 1-4: Pwm Amplifier Electrical Specifications

    20 minutes at maximum continuous power (1) This specification depends on the motor supply voltage, the motor speed, and motor resistance. Contact an Aerotech sales engineer for more information. (2) This specification assumes that an AC or DC motor type with a 0 Ω winding resistance is used.

  • Page 23: System Power Requirements

    XR3 Hardware Manual Chapter 1: Introduction 1.1.1. System Power Requirements The following equations can be used to determine total system power requirements. The actual power required from the mains supply will be the combination of actual motor power (work), motor resistance losses, and efficiency losses in the power electronics or power transformer.

  • Page 24: Mechanical Specifications

    1.2.1. Mounting and Cooling Install the XR3 in an IP54 compliant rack mount console to comply with safety standards. Make sure that there is sufficient clearance for free airflow at the rear and along the sides of the chassis and for clearance at the rear panel for cables and connections.

  • Page 25: Dimensions

    XR3 Hardware Manual Chapter 1: Introduction 1.2.2. Dimensions Figure 1-2: Dimensions with Chassis Slides www.aerotech.com...

  • Page 26: Figure 1-3: Dimensions Without Chassis Slides

    Chapter 1: Introduction XR3 Hardware Manual Figure 1-3: Dimensions without Chassis Slides www.aerotech.com...

  • Page 27: Environmental Specifications

    XR3 Hardware Manual Chapter 1: Introduction 1.3. Environmental Specifications Table 1-7: Environmental Specifications Operating: 0° to 40°C (32° to 104° F) Ambient Temperature Storage: -30° to 85°C (-22° to 185° F) Humidity The maximum relative humidity is 80% for temperatures that are less Non-condensing than 31°C and decreases linearly to 50% relative humidity at 40°C.

  • Page 28: Drive And Software Compatibility

    Chapter 1: Introduction XR3 Hardware Manual 1.4. Drive and Software Compatibility This table shows the available drives and which version of the software first supported each drive. In the Last Software Version column, drives that show a specific version number are not supported after that version.

  • Page 29: Chapter 2: Installation And Configuration

    DANGER: All electronic equipment and instrumentation is wrapped in antistatic material and packaged with desiccant. Ensure that the antistatic material is not damaged during unpacking. Remove the packing list from the XR3 container. Make sure that all the items specified on the packing list are contained within the package.

  • Page 30: Electrical Installation

    A combination power switch/circuit breaker is located on the front of the XR3. This breaker is connected to the incoming AC power and provides protection to the XR3 system in case of severe overloads. This breaker is selected to meet the maximum current requirements of the XR3 system and is normally a 10 A breaker Figure 2-2:...

  • Page 31: Ac Power Connections

    230 VAC 50/60 Hz The AC power cord wiring to the XR3 must be rated for at least 300 V and have a minimum current capacity of 10 A. The insulation rating for the AC power wiring must be appropriately rated for the environment. The temperature rating of the insulation must be at least 80ºC.

  • Page 32: Minimizing Conducted, Radiated, And System Noise For Emc/Ce Compliance

    2.2.2. Minimizing Conducted, Radiated, and System Noise for EMC/CE Compliance NOTE: The XR3 is a component designed to be integrated with other electronics. EMC testing must be conducted on the final product configuration. To reduce electrical noise, observe the following motor and input power wiring techniques.

  • Page 33: Internal Shunt Option [-Si#]

    Regeneration only occurs with PWM amplifier types (XSP3) and not linear amplifier types (XSL3). The maximum amount of energy that the XR3 can safely absorb depends on the line voltage and motor bus configuration as shown in Table 2-3.

  • Page 34: Motor Power Output Connector

    DANGER: Before you do maintenance to the equipment, disconnect the electrical power. Wait at least ten (10) minutes after removing the power supply before doing maintenance or an inspection. Otherwise, there is the danger of electric shock. The XR3 can be used to drive the following motor types: Brushless (refer to Section 2.3.1.)

  • Page 35: Brushless Motor Connections

    For Aerotech-supplied systems, the motor, encoder and Hall sensors are correctly configured and connection adjustments are not necessary. A motor filter module can be installed between the drive and the motor to reduce the effects on PWM generated noise currents.

  • Page 36: Brushless Motor Powered Motor And Feedback Phasing

    Chapter 2: Installation and Configuration XR3 Hardware Manual 2.3.1.1. Brushless Motor Powered Motor and Feedback Phasing Refer to the Motor Phasing Calculator in the Configuration Manager for motor, Hall, and encoder phasing. Figure 2-4: Positive Motor Direction Feedback Monitoring The state of the encoder and Hall-effect device signals can be observed in the Status Utility.

  • Page 37: Brushless Motor Unpowered Motor And Feedback Phasing

    With the designations of the motor and Hall leads of a third party motor determined, the motor can now be connected to an Aerotech system. Connect motor lead A to motor connector A, motor lead B to motor connector B, and motor lead C to motor connector C. Hall leads should also be connected to their respective feedback connector pins (Hall A lead to the Hall A feedback pin, Hall B to Hall B, and Hall C to Hall C).

  • Page 38: Dc Brush Motor Connections

    5. Connect the motor lead from the positive lead of the voltmeter to the ØA motor terminal on the XR3. Connect the motor lead from the negative lead of the voltmeter to the ØC motor terminal on the XR3.

  • Page 39: Stepper Motor Connections

    Proper motor phasing is important because the end of travel (EOT) limit inputs are relative to motor rotation. Figure 2-11: Positive Motor Direction For Aerotech-supplied systems, the motor, encoder and Hall sensors are correctly configured and connection adjustments are not necessary. NOTE: After the motor has been phased, use the ReverseMotionDirection parameter to change the direction of “positive”...

  • Page 40: Feedback Connector

    Connector Reserved Input Motor Over Temperature Thermistor Input +5V Power Output Plug and Play Serial Data (for Aerotech stages only) Hall-Effect Sensor B (brushless motors only) Input Encoder Marker Reference Pulse - Input Absolute Encoder Clock - Output Encoder Marker Reference Pulse +...

  • Page 41: Primary Encoder Inputs

    Chapter 2: Installation and Configuration 2.4.1. Primary Encoder Inputs The primary encoder inputs are accessible through the Feedback connector. The PrimaryFeedbackType [A3200: PositionFeedbackType or VelocityFeedbackType] parameter configures the XR3 to accept Square Wave encoder signals (Section 2.4.1.1.), Absolute encoder signals (Section 2.4.1.2.), or, as permitted by the...

  • Page 42: Square Wave Encoder

    XR3 Hardware Manual 2.4.1.1. Square Wave Encoder The XR3 accepts RS-422 square wave encoder signals. The XR3 will generate a feedback fault if it detects an invalid signal state caused by an open or shorted signal connection. Use twisted-pair wiring for the highest performance and noise immunity.

  • Page 43: Absolute Encoder

    Chapter 2: Installation and Configuration 2.4.1.2. Absolute Encoder The XR3 retrieves absolute position data along with encoder fault information through a serial data stream from the absolute encoder. Use twisted-pair wiring for the highest performance and noise immunity. Refer to Figure 2-13 for the serial data stream interface.

  • Page 44: Sine Wave Encoder [-Ct1/-Ct2/-Ct4 Option]

    Because this mode increases sensitivity to system noise, use it only if necessary. The XR3 with the -CT2 and -CT4 options can generate emulated encoder signals. These signals can be output on the AUX ENCODER connector, the HSOUT (High-Speed Output) connector, or used internally by the PSO.

  • Page 45: Figure 2-15: Analog Encoder Schematic (Feedback Connector)

    XR3 Hardware Manual Chapter 2: Installation and Configuration Figure 2-15: Analog Encoder Schematic (Feedback Connector) www.aerotech.com...

  • Page 46: Encoder Phasing

    Chapter 2: Installation and Configuration XR3 Hardware Manual 2.4.1.4. Encoder Phasing Incorrect encoder polarity will cause the system to fault when enabled or when a move command is issued. Figure 2-16 illustrates the proper encoder phasing for clockwise motor rotation (or positive forcer movement for linear motors).

  • Page 47: Figure 2-17: Position Feedback In The Diagnostic Display

    XR3 Hardware Manual Chapter 2: Installation and Configuration Figure 2-17: Position Feedback in the Diagnostic Display www.aerotech.com...

  • Page 48: Hall-Effect Inputs

    Chapter 2: Installation and Configuration XR3 Hardware Manual 2.4.2. Hall-Effect Inputs The Hall-effect switch inputs are recommended for AC brushless motor commutation but not absolutely required. The Hall-effect inputs accept 5 VDC level signals. Hall states (0,0,0) or (1,1,1) are invalid and will generate a "Hall Fault"...

  • Page 49: Thermistor Input

    XR3 Hardware Manual Chapter 2: Installation and Configuration 2.4.3. Thermistor Input The thermistor input is used to detect a motor over temperature condition by using a positive temperature coefficient sensor. As the temperature of the sensor increases, so does the resistance. Under normal operating conditions, the resistance of the thermistor is low which will result in a low input signal.

  • Page 50: Encoder Fault Input

    Chapter 2: Installation and Configuration XR3 Hardware Manual 2.4.4. Encoder Fault Input The encoder fault input is for use with encoders that have a fault output. This is provided by some manufactures and indicates a loss of encoder function. The active state of this input is parameter configurable and the controller should be configured to disable the axis when the fault level is active.

  • Page 51: End Of Travel And Home Limit Inputs

    XR3 Hardware Manual Chapter 2: Installation and Configuration 2.4.5. End of Travel and Home Limit Inputs End of Travel (EOT) limits are required to define the end of the physical travel on linear axes. Positive or clockwise motion is stopped by the clockwise (CW) end of travel limit input. Negative or counterclockwise motion is stopped by the counterclockwise (CCW) end of travel limit input.

  • Page 52: Figure 2-21: End Of Travel And Home Limit Input Connections

    Chapter 2: Installation and Configuration XR3 Hardware Manual Figure 2-21: End of Travel and Home Limit Input Connections Figure 2-22: End of Travel and Home Limit Input Schematic (Feedback Connector) www.aerotech.com...

  • Page 53: End Of Travel And Home Limit Phasing

    XR3 Hardware Manual Chapter 2: Installation and Configuration 2.4.5.1. End of Travel and Home Limit Phasing If the EOT limits are reversed, you will be able to move further into a limit but be unable to move out. To correct this, swap the connections to the CW and CCW inputs at the Feedback connector or swap the CW and CCW limit functionality in the software using the EndOfTravelLimitSetup parameter.

  • Page 54: Brake Output

    Chapter 2: Installation and Configuration XR3 Hardware Manual 2.4.6. Brake Output Each axis has a dedicated brake output circuit. An internal 24 V power supply is used to energize the brake. The brake output is driven by +24 V to release the brake.

  • Page 55: Position Synchronized Output Connector (Pso)

    XR3 Hardware Manual Chapter 2: Installation and Configuration 2.5. Position Synchronized Output Connector (PSO) The PSO output signal is available in two signal formats: Isolated Signals (Section 2.5.1.) TTL Signals (Section 2.5.2.) Table 2-18: PSO Connector Pinout Pin # Description In/Out/Bi Connector...

  • Page 56: Pso Isolated Outputs

    Chapter 2: Installation and Configuration XR3 Hardware Manual 2.5.1. PSO Isolated Outputs This output signal is a fully-isolated 5-24V compatible output capable of sourcing or sinking current. Refer to Figure 2-25 Figure 2-26. This output is normally open and only conducts current when a PSO fire event occurs.

  • Page 57: Pso Ttl Outputs

    XR3 Hardware Manual Chapter 2: Installation and Configuration 2.5.2. PSO TTL Outputs This output signal is a 5V TTL signal which is used to drive an opto coupler or general purpose TTL input. The TTL PSO outputs are active high and designed to drive a 50 Ω minimum load.

  • Page 58: Pso Clock Inputs

    Chapter 2: Installation and Configuration XR3 Hardware Manual 2.5.3. PSO Clock Inputs The PSO Clock Inputs are used to synchronize the corresponding PSO Output to an external rising edge clock signal. Refer to the PSOOUTPUT PULSE EXTSYNC command in the A3200 Help file for more information.

  • Page 59: Data Acquisition Inputs

    XR3 Hardware Manual Chapter 2: Installation and Configuration 2.5.4. Data Acquisition Inputs The Data Acquisition ± input is used for the hardware Data Acquisition feature. The delay time through the high-speed opto devices is 50 nsec (typical). The high-speed input is scaled for 5-24 VDC input and can be used with sourcing or sinking drivers.

  • Page 60: Hsout Connector (High-Speed Outputs)

    XR3 Hardware Manual 2.6. HSOUT Connector (High-Speed Outputs) The HSOUT port is a 25 pin ‘D’ style connector located at the rear of the XR3 chassis. Each axis controls two high-speed RS-422 differential outputs which are software-configuratble, as explained below. Table 2-27:...

  • Page 61: Figure 2-30: Diagram Showing Axis 1 And Axis 2 High-Speed Outputs

    The high-speed outputs can be used to transmit clock and direction signals for driving an external device. In this configuration, High-Speed Output 0 transmits the direction signal and High-Speed Output 1 transmits the clock signal. For more information on transmitting clock and direction signals out of the XR3, see the PULSE command in the Help file.

  • Page 62: Dout Connector (Digital Outputs)

    Chapter 2: Installation and Configuration XR3 Hardware Manual 2.7. DOUT Connector (Digital Outputs) Optically-isolated solid-state relays drive the digital outputs. You can connect the digital outputs in current sourcing or current sinking mode but you must connect all four outputs in a port in the same configuration.

  • Page 63: Table 2-31: Dout Connector Digital Outputs Pinout

    XR3 Hardware Manual Chapter 2: Installation and Configuration Table 2-31: DOUT Connector Digital Outputs Pinout Pin # Description In/Out/Bi Connector Port 0 Digital Output Common Input Port 0 Digital Output 0 Output Port 0 Digital Output 1 Output Port 0 Digital Output 2...

  • Page 64: Figure 2-31: Digital Output Schematic

    Chapter 2: Installation and Configuration XR3 Hardware Manual Figure 2-31: Digital Output Schematic www.aerotech.com...

  • Page 65: Figure 2-32: Digital Outputs Connected In Current Sourcing Mode

    XR3 Hardware Manual Chapter 2: Installation and Configuration Figure 2-32: Digital Outputs Connected in Current Sourcing Mode Figure 2-33: Outputs Connected in Current Sinking Mode www.aerotech.com...

  • Page 66: Din Connector (Digital Inputs)

    Chapter 2: Installation and Configuration XR3 Hardware Manual 2.8. DIN Connector (Digital Inputs) Input bits are arranged in groups of 4 and each group shares a common pin. This lets a group be connected to current sourcing or current sinking devices, based on the connection of the common pin in that group.

  • Page 67: Figure 2-34: Digital Input Schematic

    XR3 Hardware Manual Chapter 2: Installation and Configuration Table 2-35: Digital Input Specifications Input Voltage Approximate Input Current Turn On Time Turn Off Time +5 V to +24 V 6 mA 10 µs 43 µs Figure 2-34: Digital Input Schematic...

  • Page 68: Figure 2-35: Digital Inputs Connected To Current Sinking (Npn) Devices

    Chapter 2: Installation and Configuration XR3 Hardware Manual Figure 2-35: Digital Inputs Connected to Current Sinking (NPN) Devices Figure 2-36: Digital Inputs Connected to Current Sourcing (PNP) Devices www.aerotech.com...

  • Page 69: Aux Encoder Connectors

    Cosine ± connector pins as RS-422 outputs. Refer to the Help file for more information. Invalid or missing signals will cause the XR3 to generate a feedback fault when the axis is enabled. Use twisted-pair wiring for the highest performance and noise immunity.

  • Page 70: Analog I/O Connectors

    XR3 Hardware Manual 2.10. Analog I/O Connectors There is 15-pin D-style Analog I/O connector for each axis accessible at the rear of the XR3 chassis. The Analog I/O interface provides the user with two differential 16-bit analog inputs and two single-ended 16-bit analog outputs.

  • Page 71: Analog Outputs

    XR3 Hardware Manual Chapter 2: Installation and Configuration 2.10.1. Analog Outputs The analog output can be set from within a program or it can be configured to echo the state of select servo loop nodes. The analog output is set to zero when you power on the system or reset the drive.

  • Page 72: Analog Inputs (Differential)

    Chapter 2: Installation and Configuration XR3 Hardware Manual 2.10.2. Analog Inputs (Differential) To interface to a single-ended, non-differential voltage source, connect the signal common of the source to the negative input and connect the analog source signal to the positive input. A floating signal source must be referenced to the analog common.

  • Page 73: Joystick Interface

    XR3 Hardware Manual Chapter 2: Installation and Configuration 2.10.3. Joystick Interface The Joystick Interface uses the two analog inputs and three dedicated inputs on the Analog I/O connector. Joystick operation requires that the two analog inputs be configured as single-ended inputs. The joystick...

  • Page 74: Figure 2-41: Joystick Cable Wiring Schematic

    Chapter 2: Installation and Configuration XR3 Hardware Manual Aerotech Multi-Axis Joystick (NEMA12 (IP54) rated) is powered from 5 V and has a nominal 2.5 V output in the center detent position. Three buttons are used to select axis pairs and speed ranges. An optional interlock signal is used to indicate to the controller that the joystick is present.

  • Page 75: Safe Torque Off Input (Sto)

    24 V signals. NOTE: The XR3 might be equipped with an STO bypass plug. The bypass plug defeats the STO safety circuit and allows the system to run at all times. To use the STO safety functionality, remove the plug and make connections as outlined in this section.

  • Page 76: Figure 2-42: Typical Configuration

    Chapter 2: Installation and Configuration XR3 Hardware Manual WARNING: The XR3 does not check for short circuits on the external STO wiring. If this is not done by the external safety device, short circuits on the wiring must be excluded. Refer to EN ISO 13849-2.

  • Page 77: Sto Standards

    The XR3 software monitors each STO channel and will generate an Emergency Stop software fault when either channel signals the stop state. Each STO channel contains a fixed delay which allows the XR3 to perform a controlled stop before the power amplifier transistors are turned off.

  • Page 78: Sto Startup Validation Testing

    321 Safety Relay Unit. Place this device between the system ESTOP wiring and the XR3's STO inputs. Connect the ESTOP signal directly to a digital input, in addition to the external timer, to allow the XR3 to begin a software-controlled stop as soon as the ESTOP signal becomes active. Use the EmergencyStopFaultInput [A3200: ESTOPFaultInput] parameter to configure a digital input as an ESTOP...

  • Page 79: Sto Diagnostics

    Diagnostic Test Delay Time has elapsed. The diagnostic check verifies that each channel has entered the safe state. The XR3 is held in the safe state if it determines that one of the channels has not properly entered the safe state. An open circuit or short to 24 V in either STO channel will result in this condition (refer to Section 2.11.3.).

  • Page 80: Hyperwire Interface

    Chapter 2: Installation and Configuration XR3 Hardware Manual 2.12. HyperWire Interface The HyperWire bus is the high-speed communications connection to the XR3 operating at 2 gigabits per second. The PC sends all command and configuration information through the HyperWire bus. Table 2-53:...

  • Page 81: External And Fan Tray Cooling Options [-C0/-C1/-C2 Option]

    WARNING: To prevent the XR3 from over-heating, do not obstruct the airflow path at the perforated covers on the chassis. The XR3 has a standard rear fan on all models. The fan pulls air into the chassis. Refer to Figure 2-44.

  • Page 82: Figure 2-46: -C1 Model Showing Perforated Covers For External Fans

    External Cooling Option [-C1] If you ordered an XR3 with the External Cooling option, you will be required to provide forced air-cooling to the XR3 drive chassis. Provide cooling to the XR3 by directing the airflow through the perforated covers of the XR3 chassis.

  • Page 83: Figure 2-47: -C2 1U Fan Location And Air Flow

    Fan Tray Option [-C2] If you ordered an XR3 with the Fan Tray option, Aerotech will attach a 1U fan tray to the bottom of the chassis at the factory. The tray houses two fans that will direct airflow through the XR3 drive chassis from the bottom to the top.

  • Page 84: Pc Configuration And Operation Information

    Chapter 2: Installation and Configuration XR3 Hardware Manual 2.14. PC Configuration and Operation Information For more information about hardware requirements, PC configuration, programming, system operation, and utilities, refer to the Help file. www.aerotech.com...

  • Page 85: Chapter 3: Maintenance

    DANGER: Before you clean the XR3, disconnect the electrical power from the drive. Use a clean, dry, soft cloth to clean the chassis of the XR3. If necessary, you can use a cloth that is moist with water or isopropyl alcohol. If you use a moist cloth, make sure that moisture does not go into the XR3.

  • Page 86: Fuse Specifications

    3.2. Fuse Specifications WARNING: Replace fuses only with the factory-specified value and type. DANGER: Always disconnect the Mains power connection before opening the XR3 chassis. Fuses must not be changed with Mains power applied to the unit. The fuses on the drive interface board are factory-configured based on the bus voltage configuration that you ordered.

  • Page 87: Appendix A: Warranty And Field Service

    Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer, whether or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided, or whether or not Aerotech’s...
  • Page 88 Aerotech's approval. On-site Warranty Repair If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts, and cannot be returned to the Aerotech service center for repair, and if Aerotech determines the problem could be warranty-related, then the following policy applies:...

  • Page 89: Appendix B: Voltage Selection Operation

    Procedure for setting AC voltage selector switches: 1. Turn-off and disconnect all power from unit. 2. Remove the four screws that secure the panel on the front of the XR3 3. Carefully remove the panel without pulling out the wiring connected to the Power Switch.
  • Page 90 Drive Interface Board with the P/N: EFN01746-01 (manual revision 1.00.00 and up). Customers with the Beta hardware and Beta manual revision should contact Aerotech for more information if you need to change voltage settings. Table B-1: AC Voltage Selector Switch Settings 100 VAC...

  • Page 91: Appendix C: Revision History

    XR3 Hardware Manual Appendix C: Revision History Appendix C: Revision History Revision Description The following sections have been updated: Agency Approvals 1.03.00 Section 2.4.1. Primary Encoder Inputs Section 2.9. Aux Encoder Connectors The following sections have been updated: EU Declaration of Conformity...
  • Page 92 Appendix C: Revision History XR3 Hardware Manual This page intentionally left blank. www.aerotech.com...

  • Page 93: Index

    XR3 Hardware Manual Index Index Analog Encoder (Feedback Connector) Analog Encoder Phasing Reference Diagram Analog Encoder Schematic (Feedback Connector) Analog Encoder Specifications (Feedback Connector) Analog I/O Connector Pinout -CT1 Analog I/O Connectors -CT2 Analog Inputs -CT4 Analog Outputs -VB1 Joystick Interface...
  • Page 94 Index XR3 Hardware Manual Brake Output Specifications Brushless Motor Configuration (Motor Power Data Acquisition Input (PSO) Output Connector) Data Acquisition Input Pins on the PSO Brushless Motor Connections (Motor Power Connector Output Connector) Data Acquisition Input Schematic (PSO) Brushless Motor Phasing Goal...
  • Page 95 XR3 Hardware Manual Index DIN Connector End of Travel Limit Input Pins on the Feedback Connector Mating Connector Part Numbers End of Travel Limit Input Schematic DIN Connector Digital Input Pinout End of Travel Limit Phasing DOUT Connector EnDat absolute encoder...
  • Page 96 Index XR3 Hardware Manual Thermistor Input End of Travel Limit Input Schematic Travel Limit Input Hall-Effect Inputs Schematic Feedback Monitoring Home Limit Input Connections Figure Home Limit Input Diagnostic Display Absolute Encoder Schematic (Feedback Home Limit Input Schematic Connector) Isolated Output Current Sinks Schematic...
  • Page 97 XR3 Hardware Manual Index Hall-Effect Inputs (Feedback Connector) Isolated Output Current Sources Schematic (PSO) Hall-Effect Inputs Schematic Isolated Output Pins on the PSO Connector Heat Sink Temperature Isolated Outputs (PSO) High-Speed Outputs Isolation Home Limit Input (Feedback Connector) Home Limit Input Connections...
  • Page 98 Index XR3 Hardware Manual Mechanical Specifications Analog Output Pins (Analog I/O Connector) Minimizing Conducted, Radiated, and System Aux Encoder Connector Noise for EMC/CE Compliance Brake Output Pins (Feedback Connector) Minimum Load Inductance Data Acquisition Input Pins (PSO Connector) 59 Motor Connector...
  • Page 99 XR3 Hardware Manual Index Power Requirements Power Switch Safe Torque Off Input (STO) Preventative Maintenance Safety Procedures and Warnings Primary Encoder Input (Feedback Connector) serial data stream Primary Encoder Input Pins on the Feedback serial number Connector Servo Amplifier Electrical Specifications...
  • Page 100 Index XR3 Hardware Manual Stepper Motor Configuration Typical STO Configuration Stepper Motor Connections (Motor Power Output Connector) Unit Weight Stepper Motor Phasing Unpacking the Chassis Connector Pinout Diagnostics Warranty and Field Service Electrical Specifications External Delay Timer Functional Description IP54 Enclosure...

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