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Description

Specifications

Dimensions

Ordering Info

Downloads

Description

Path 7

Description

Specifications

Dimensions

Ordering Info

Downloads

Description

Design-Merkmale

  • Schöpfen Sie die volle Leistung unseres intelligenten, softwarebasierten Motion-Controllers Automation1-iSMC aus
  • Bietet die vollständige Konfigurations- und Leistungsfähigkeit des XR3-Antriebsracks
  • Eliminieren Sie den PC aus Ihrem Steuerungsschema
  • Plug-in-Verstärker mit speziellen Steuerkarten treiben Bürsten-, bürstenlose, Schritt-, Schwingspulen- oder Piezomotoren an
  • Steuerung von bis zu 12 Achsen durch Anschluss weiterer Automation1-Antriebe über den HyperWire-Lichtwellenleiter-Bus
  • Beinhaltet PSO, die ultimative positionsbasierte Steuerung für industrielle Laser, Kameras und mehr
  • Funktionale Sicherheit durch Safe Torque Off (STO) (Zertifizierung ausstehend)

Eigenständige Motorensteuerung

Der iXR3-Motion Controller wird von leistungsstarken Controllerkarten gesteuert, die die Servo- und Stromschleifen mit 20 kHz schließen. Diese Karten bieten auch verschiedene andere Hochgeschwindigkeits-Steuerungsfunktionen mit geringer Latenz, um den Durchsatz und die Qualität Ihres Prozesses zu verbessern. Die iXR3-Einheit verarbeitet digitale und analoge E/A, Hochgeschwindigkeits-Datenerfassung, Hochgeschwindigkeits-Differentialausgänge, positionssynchronisierte Ausgänge und Encoder-Multiplikationsfunktionen in Echtzeit.

Automation1

Der iXR3 ist Teil der benutzerfreundlichen Automation1-Bewegungssteuerungsplattform, die Folgendes umfasst:

Zu den Standardantriebsfunktionen des iXR3 gehören eine achsweise Bremsensteuerungslogik, eine zusätzliche Encoderrückmeldung und eine analoge E/A-Erweiterung. Ebenfalls Standard sind 16 opto-isolierte Eingänge, 16 opto-isolierte Ausgänge, bis zu 12 Hochgeschwindigkeits-Differentialausgänge, 3 externe PSO-Sync-Eingänge, 3 TTL- oder isolierte PSO-Ausgänge, 1 opto-isolierter Datenerfassungseingang und 2 STO-Sense-Eingänge.

Zu den Konfigurationsoptionen für den iXR3 gehören drei verschiedene Stufen der integrierten Encoder-Multiplikation, Kühloptionen, Montageoptionen und Optionen für die positionsbasierte Prozesssteuerung (PSO) mit niedriger Latenz.

Der iXR3 kann entweder mit PWM- oder linearen Einsteckverstärkern für die Steuerung von bürstenlosen, bürstenbehafteten DC- oder Schrittmotoren mit einer Betriebsspannung von bis zu 320 VDC und einem Spitzenstrom von 30 A konfiguriert werden. Die Busspannungsanpassung ist durch zwei separate und konfigurierbare Motorversorgungsschaltungen möglich, so dass eine Vielzahl von Motoren in den iXR3 integriert werden kann. Wenn nur eine Motorspannung benötigt wird, werden die Stromversorgungsabschnitte zusammengeschaltet, um eine noch höhere Leistung zu erzielen. Der iXR3 verfügt außerdem über einen Überspannungsschutz und externe Lüfter für den Betrieb mit hoher Leistung.

iXR3 Controller Details

Specification
Description
Motion Controller(1) Aerotech’s Automation1-iSMC Intelligent Software-Based Motion Controller (version 2.1 and above)
Maximum Axes of Control(1) Up to 12 axes
Industrial Ethernet Support EtherCAT (pending)
I/O Points(1) See general and controller card specifications below.
Programming Language(1) AeroScript, RS-274 G-code
APIs(1) ● .NET (cross-platform Linux support)


● C (cross-platform Linux support)


● EPICS (cross-platform Linux support) see EPICS.anl.gov
Programming Tasks(1) 4 user tasks (standard) / 9 user tasks (optional)


1 reserved task
Position Modes Absolute, incremental, dynamic trajectory correction
Motion Types(1) ● Linear motion


● Clockwise & counterclockwise


● Jogging


● Homing


● Rapid


● Freerun


● Many more
Acceleration Profiles ● Linear (time & rate based)


● Sine (time & rate based)


● S-curve (time & rate based)
Velocity Profiling(1) Yes
Safe Zones(1) Yes
Advanced Features(1) ● Corner rounding


● Tool normalcy control


● Cutter compensation


● Programmable fixture offsets(2)


● Rotation, mirroring & translation transformations


● Part profile scaling


● Polar & cylindrical
transformations(2)


● Orthogonality correction


● Electronic gearing


● EasyTune® & classical tuning


● Backlash compensation


● Spindle motion


● High-speed registration


● Multi-dimensional error mapping
Access Control No
Controller File System Yes (5 GB)
Supported HyperWire Drives ● Automation1-XC6e(3)(4)


● Automation1-XC4e(3)(4)


● Automation1-XC2e(3)(4)


● Automation1-XC4(3)(4)


● Automation1-XC2(3)(4)


● Automation1-XR3(3)


● Automation1-XL5e(3)(4)


● Automation1-XL2e(3)(4)


● Automation1-SI4(3)


● Automation1-XI4(3)
Communication/Configuration
Connection
● Ethernet


● USB

iXR3 Specifications

Description
iXR3
Connectivity to other Automation1 drives 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 200/208 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 (90-112 VAC, 50/60 Hz)


● 120 VAC (103-127 VAC, 50/60 Hz)


● 200/208 VAC (180-224 VAC, 50/60 Hz)


● 240 VAC (207-254 VAC, 50/60 Hz)




Note: If the iXR3 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.)

iXR3 Control Card Specifications

Each controller card configured on the Automation1-iXR3 includes the following options
-CTN
-CT1
-CT2
-CT4
Current Loop Update Rate 20 kHz 20 kHz 20 kHz 20 kHz
Servo Loop Update Rate kHz 8 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-persecond input




Absolute Encoder


Yes




Sine-wave Encoder


n/a
Square-wave Encoder


40 million counts-persecond 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-persecond 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-persecond 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-persecond input




Absolute Encoder


Yes




Sine-wave Encoder


n/a
Square-wave Encoder


40 million counts-persecond input




Absolute Encoder


Yes




Sine-wave Encoder


n/a
Square-wave Encoder


40 million counts-persecond input




Absolute Encoder


Yes




Sine-wave Encoder


n/a
Square-wave Encoder


40 million counts-persecond 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

iXR3 PWM Amplifier Specifications

Option
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 320 VDC 320 VDC
Maximum Power Amplifier Bandwidth(3) 2 kHz 0.1 mH @ 160 VDC bus (1.0 mH @320 VDC bus)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)

iXR3 Linear Amplifier Specifications

Option
XSL3-10-40(5)(6)(7)(8)
Option Code -L1
Continuous Output Current, ±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

Dimensions

Automation1 iXR3, Rack-Mounted



Automation1 iXR3, Rack-Mounted with Drawer Slides



Ordering Information

Controller Configuration

To configure and load the motion controller on the iXR3 drive, please configure and order an Automation1-
iSMC intelligent controller with your iXR3 drive. The Automation1-iSMC configuration should include the iXR3
as the “hardware platform.

Automation1 iXR3

Option Description
Automation1 iXR3 Automation1-iXR3 - 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:
  1. 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:
  1. 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
-VB6 (Future) +150 VDC / -30 VDC Piezo
-VB7 160 VDC unipolar
-VB8 320 VDC unipolar
Note:
  1. Bus voltages options are limited based upon other configuration selections.

Split Bus

Option Description
-SB0 Axis 1-6 Bus Voltage 1 (/SPLIT BUS 1-6
-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:
  1. 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
Note:
  1. 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 firing (default)
-PSO2 Two-axis PSO firing
-PSO3 Three-axis PSO firing
Note:
  1. 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:
  1. 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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