Aerotech Automation1 iXR3 User manual

Revision 2.08
Automation1 iXR3 and XR3 Drive Racks
HARDWAREMANUAL

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This manual contains proprietary information and may not be reproduced,
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Aerotech, Inc. Product names mentioned herein are used for identification purposes
only and may be trademarks of their respective companies.
Copyright © 2016-2022, Aerotech, Inc., All rights reserved.

Table of Contents
Automation1 iXR3 and XR3 Drive Racks 1
Table of Contents 3
List of Figures 5
List of Tables 7
EU Declaration of Conformity 9
Agency Approvals 10
Safety Procedures and Warnings 11
Handling and Storage 13
Installation Overview 14
Chapter 1: iXR3/XR3 Overview 15
1.1. Electrical Specifications 21
1.1.1. System Power Requirements 24
1.2. Mechanical Specifications 25
1.2.1. Mounting and Cooling 25
1.2.2. Dimensions 26
1.3. Environmental Specifications 28
1.4. Drive and Software Compatibility 29
Chapter 2: Installation and Configuration 31
2.1. Electrical Installation 31
2.1.1. AC Power Connections 33
2.1.2. Minimizing Noise for EMC/CECompliance 34
2.1.3. I/O and Signal Requirements 34
2.1.4. Internal Shunt Option [-SI#] 35
2.2. Motor Power Output Connector 36
2.2.1. Brushless Motor Connections 37
2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 38
2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 39
2.2.2. DCBrush Motor Connections 40
2.2.2.1. DC Brush Motor Phasing 40
2.2.3. Stepper Motor Connections 41
2.2.3.1. Stepper Motor Phasing 41
2.2.4. Three Phase Stepper Motor Connections 42
2.2.4.1. Stepper Motor Phasing 42
2.3. Feedback Connector 43
2.3.1. Primary Encoder Inputs 44
2.3.1.1. Square WaveEncoder (Primary) 45
2.3.1.2. Absolute Encoder (Primary) 46
2.3.1.3. Sine Wave Encoder (Primary) [-CT1/-CT2/-CT4 Option] 47
2.3.1.4. Encoder Phasing 49
2.3.2. Hall-Effect Inputs 50
2.3.3. Thermistor Input 51
2.3.4. Encoder Fault Input 52
2.3.5. End of Travel and Home Limit Inputs 53
2.3.5.1. End of Travel and Home Limit Phasing 55
2.3.6. Brake Output 56
2.4. Position Synchronized Output Connector (PSO) 57
2.4.1. PSO Isolated Outputs 58
2.4.2. PSO TTLOutputs 59
2.4.3. External PSO Synchronization 60
2.4.4. DataAcquisition Inputs 61
2.5. HSOUTConnector (High-Speed Outputs) 62
2.6. DOUTConnector (Digital Outputs) 64
2.7. DINConnector (Digital Inputs) 68
2.8. Aux Encoder Connectors 71
2.8.1. Square WaveEncoder (Auxiliary) 72
2.8.2. Absolute Encoder (Auxiliary) 73
2.8.3. Sine Wave Encoder (Auxiliary) [-CT4 Option] 74
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2.9. AnalogI/OConnectors 76
2.9.1. Analog Outputs 77
2.9.2. Analog Inputs (Differential) 78
2.9.3. Joystick Interface 79
2.10. Safe Torque Off Input (STO) 81
2.10.1. STOStandards 83
2.10.2. STO Functional Description 84
2.10.3. STO Startup Validation Testing 85
2.10.4. STO Diagnostics 86
2.11. HyperWire Interface 87
2.12. Sync Port 88
2.13. Industrial Ethernet (iXR3 Only) 88
2.14. Cooling Options [-C0/-C1/-C2Option] 89
2.15. PC Configuration and Operation Information 92
Chapter 3: Maintenance 93
3.1. Preventative Maintenance 94
3.2. Fuse Specifications 95
3.3. Amplifier Replacement 96
Appendix A: Warranty and Field Service 99
Appendix B: Voltage Selection Operation 101
Appendix C: Revision History 103
Index 105
Table of Contents iXR3/XR3 Hardware Manual
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List of Figures
Figure 1-1: iXR3 Connection Overview 15
Figure 1-2: XR3 Connection Overview 16
Figure 1-3: Functional Diagram 20
Figure 1-4: iXR3/XR3 ACPower Label Location 21
Figure 1-5: Dimensions with Chassis Slides 26
Figure 1-6: Dimensions without Chassis Slides 27
Figure 2-1: iXR3 Connection Overview 31
Figure 2-2: XR3 Connection Overview 32
Figure 2-3: Brushless Motor Configuration 37
Figure 2-4: Positive Motor Direction 38
Figure 2-5: Encoder and Hall Signal Diagnostics 38
Figure 2-6: Brushless Motor Phasing Oscilloscope Example 39
Figure 2-7: Brushless Motor Phasing Goal 39
Figure 2-8: DC Brush Motor Configuration 40
Figure 2-9: Positive Motor Direction 40
Figure 2-10: Stepper Motor Configuration 41
Figure 2-11: Positive Motor Direction 41
Figure 2-12: Three Phase Stepper Motor Configuration 42
Figure 2-13: Positive Motor Direction 42
Figure 2-14: Square Wave Encoder Schematic (Feedback Connector) 45
Figure 2-15: Absolute Encoder Schematic (Feedback Connector) 46
Figure 2-16: Sine Wave Encoder Phasing Reference Diagram 47
Figure 2-17: Sine Wave Encoder Schematic (Feedback Connector) 48
Figure 2-18: Encoder Phasing Reference Diagram (Standard) 49
Figure 2-19: Position Feedback in the DiagnosticDisplay 49
Figure 2-20: Hall-Effect Inputs Schematic (Feedback Connector) 50
Figure 2-21: Thermistor Input Schematic (Feedback Connector) 51
Figure 2-22: Encoder Fault Input Schematic (Feedback Connector) 52
Figure 2-23: End of Travel and Home Limit Input Connections 54
Figure 2-24: End of Travel and Home Limit Input Schematic (Feedback Connector) 54
Figure 2-25: End of Travel and Home Limit Input Diagnostic Display 55
Figure 2-26: Brake Output Connections (Feedback Connector) 56
Figure 2-27: PSO Output Sources Current 58
Figure 2-28: PSOOutput Sinks Current 58
Figure 2-29: PSO TTLOutputs Schematic 59
Figure 2-30: PSO Clock Inputs Schematic 60
Figure 2-31: DataAcquisition Input Schematic 61
Figure 2-32: Diagram Showing Axis 1 and Axis 2 High-Speed Outputs 63
Figure 2-33: Digital Output Schematic 66
Figure 2-34: Digital Outputs Connected in Current Sourcing Mode 67
Figure 2-35: Outputs Connected in Current Sinking Mode 67
Figure 2-36: Digital Input Schematic 69
Figure 2-37: Digital Inputs Connected to Current Sourcing (PNP) Devices 70
Figure 2-38: Digital Inputs Connected to Current Sinking (NPN) Devices 70
Figure 2-39: Square Wave Encoder Interface (Aux EncoderConnector) 72
Figure 2-40: Absolute Encoder Schematic (Aux Encoder Connector) 73
Figure 2-41: Sine Wave Encoder Phasing Reference Diagram 74
Figure 2-42: Sine Wave Encoder Schematic (AuxEncoder Connector) 75
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Figure 2-43: Analog Outputs Schematic 77
Figure 2-44: Analog Inputs Schematic 78
Figure 2-45: Joystick Interface Inputs Schematic 79
Figure 2-46: Joystick Cable Wiring Schematic 80
Figure 2-47: Typical STO Configuration 82
Figure 2-48: STO Timing 86
Figure 2-49: Location of the Rear Fan and Air Flow 89
Figure 2-50: -C0 Fan Location and Direction of Air Flow 89
Figure 2-51: -C1 Model Showing Perforated Covers for External Fans 90
Figure 2-52: -C2 1U Fan Location and Air Flow 91
Figure 3-1: Drive Interface Board 95
Figure 3-2: Amplifier Removal 96
Figure 3-3: Slot Details 97
Figure B-1: Voltage Selection Switch Access 102
List of Figures iXR3/XR3 Hardware Manual
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List of Tables
Table 1-1: FeatureSummary 17
Table 1-2: Configurations and Options 18
Table 1-3: Electrical Specifications 22
Table 1-4: PWMAmplifier Electrical Specifications 23
Table 1-5: Linear Amplifier Electrical Specifications 23
Table 1-6: Mounting Specifications 25
Table 1-7: Environmental Specifications 28
Table 1-8: Drive and Software Compatibility 29
Table 2-1: Main AC Power Input Voltages and Current Requirements 33
Table 2-2: I/O and Signal Specifications 34
Table 2-3: Maximum Energy That The iXR3/XR3 Can Safely Absorb During Regeneration 35
Table 2-4: Motor Power Output Connector Pinout 36
Table 2-5: Mating Connector Part Numbers for the Motor Power Output Connector 36
Table 2-6: Hall Signal Diagnostics 38
Table 2-7: Feedback Connector Pinout 43
Table 2-8: Mating Connector Part Numbers for the Feedback Connector 43
Table 2-9: Multiplier Options 44
Table 2-10: Primary Encoder Input Pins on the Feedback Connector 44
Table 2-11: Square Wave Encoder Specifications 45
Table 2-12: Sine Wave Encoder Specifications 47
Table 2-13: Hall-Effect Feedback Pins on the Feedback Connector 50
Table 2-14: Thermistor Input Pin on the Feedback Connector 51
Table 2-15: Encoder Fault Input Pin on the Feedback Connector 52
Table 2-16: End of Travel and Home Limit Pins on the Feedback Connector 53
Table 2-17: Brake Output Pins on the Feedback Connector 56
Table 2-18: Brake Output Specifications 56
Table 2-19: PSOConnector Pinout 57
Table 2-20: PSOSpecifications 57
Table 2-21: PSOIsolated Output Specification 58
Table 2-22: Isolated Output Pins on the PSOConnector 58
Table 2-23: PSOTTLOutputs Specification 59
Table 2-24: TTLOutput Pins on the PSOConnector 59
Table 2-25: External PSO Sync Input Pins on the PSO Connector 60
Table 2-26: Data Acquisition Input Pins on the PSOConnector 61
Table 2-27: DataAcquisition Opto-Isolator Input Specifications 61
Table 2-28: High-Speed Output Specifications 62
Table 2-29: HSOUTConnector Pinout 62
Table 2-30: Mating Connector Part Numbers for the HSOUTConnector 62
Table 2-31: Digital Output Specifications 64
Table 2-32: DOUTConnector Digital Outputs Pinout 65
Table 2-33: Mating Connector Part Numbers for the DOUTConnector 65
Table 2-34: DINConnector Digital Inputs Pinout 68
Table 2-35: Mating Connector Part Numbers for the DINConnector 68
Table 2-36: Digital Input Specifications 68
Table 2-37: AuxEncoder Connector Pinout 71
Table 2-38: Mating Connector Part Numbers for the Aux Encoder Connectors 71
Table 2-39: Square Wave Encoder Specifications 72
Table 2-40: Sine Wave Encoder Specifications 74
iXR3/XR3 Hardware Manual List of Tables
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Table 2-41: AnalogI/OConnector Pinout 76
Table 2-42: Mating Connector Part Numbers for the AnalogI/OConnectors 76
Table 2-43: Analog Output Specifications 77
Table 2-44: Analog Output Pins on the Analog I/OConnector 77
Table 2-45: Analog Input Specifications 78
Table 2-46: Analog Input Pins on the Analog I/O Connector 78
Table 2-47: Joystick Interface Pins on the Analog I/OConnectors 79
Table 2-48: STO Connector Pinout 81
Table 2-49: Mating Connector Part Numbers for the STOConnector 81
Table 2-50: STOElectrical Specifications 82
Table 2-51: STOStandards 83
Table 2-52: STOStandards Data 83
Table 2-53: STOSignal Delay 85
Table 2-54: Motor Function Relative to STOInput State 85
Table 2-55: STOTiming 86
Table 2-56: HyperWire Card Part Number 87
Table 2-57: HyperWire Cable Part Numbers 87
Table 2-58: Sync-Related Functions 88
Table 2-59: SyncPort Cables 88
Table 2-60: -C1 Option Airflow Specifications 90
Table 3-1: LEDDescription 93
Table 3-2: Troubleshooting 93
Table 3-3: Preventative Maintenance 94
Table 3-4: Drive Interface Board Motor Power Fuse Replacement Part Numbers 95
Table B-1: AC Voltage Selector Switch Settings 102
List of Tables iXR3/XR3 Hardware Manual
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EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product iXR3/XR3
Model/Types All
This is to certify that the aforementioned product is in accordance with the applicable requirements
of the following directive(s):
2014/30/EU Electromagnetic Compatibility (EMC)
2014/35/EU Low Voltage Directive
2006/42/EC Machinery Directive
2011/65/EU RoHS 2 Directive
EU 2015/863 Amendment RoHS 3 Directive
and has been designed to be in conformity with the applicable requirements of the following
standard(s) when installed and used in accordance with the manufacturer’s supplied installation
instructions.
EN 61010-1:2010/A1:2016 Safety Requirements for Electrical Equipment
EN 61800-3:2004/A1:2011 EMCRequirements for Power Drives
IEC 61800-5-1:2016 Electrical Safety for Power Drive Systems
IEC 61800-5-2:2016 Functional Safety for Power Drive Systems
EN 55011:2000/A2:2003 Conducted and Radiated Emissions
EN 55022:1998 Conducted and Radiated Emissions
Authorized
Representative / Simon Smith, European Director
Aerotech Ltd
The Old Brick Kiln, Ramsdell, Tadley
Hampshire RG26 5PR
UK
Engineer Verifying
Compliance / Alex Weibel
Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Date 3/17/2022
iXR3/XR3 Hardware Manual EU Declaration of Conformity
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Agency Approvals
Aerotech tested its XR3 drive racks and found that they obey the standards that follow:
IMPORTANT: iXR3 certification is pending.
Approval: CUS NRTL
Approving Agency: TUV SUD America Inc.
Certificate #: U8 068995 0027 Rev. 02
Standards: CAN/CSA-C22.2 No. 61010-1:2012,
EN 61010-1:2010/A1:2016,
UL 61010-1:2012
Approval: Safety Components (STO)
Approving Agency: TUVSUD
Certificate #: Z10 068995 0030 Rev. 00
Standards: EN ISO 13849-1:2015 (up to PL e),
IEC 61508-1:2010 (up to SIL3),
IEC 61508-2:2010 (up to SIL3),
IEC 61800-5-2:2016,
IEC 62061:2005 (up to SILCL3),
IEC 62061:2005/AMD1:2012 (up to SILCL3),
IEC 62061:2005/AMD2:2015 (up to SILCL3)
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.
Agency Approvals iXR3/XR3 Hardware Manual
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Safety Procedures and Warnings
IMPORTANT: This manual tells you how to carefully and correctly use and operate the
drive rack.
lRead all parts of this manual before you install or operate the drive rack or before
you do maintenance to your system.
lTo prevent injury to you and damage to the equipment, obey the precautions in this
manual.
lAll specifications and illustrations are for reference only and were complete and
accurate as of the release of this manual. To find the newest information about this
product, refer to www.aerotech.com.
If you do not understand the information in this manual, contact Aerotech Global
Technical Support.
IMPORTANT: This product has been designed for light industrial manufacturing or
laboratory environments. If the product is used in a manner not specified by the
manufacturer:
lThe protection provided by the equipment could be impaired.
lThe life expectancy of the product could be decreased.
Safety notes and symbols are placed throughout this manual to warn you of the potential risks at the
moment of the safety note or if you fail to obey the safety note.
The voltage can cause shock, burn, or death.
You are at risk of physical injury.
You could damage the drive rack.
A surface can be hot enough to burn you.
Your actions, the temperature of the system, or the condition of the atmosphere
that surround the system could start a fire.
Components are sensitive to electrostatic discharge.
Unsecured cables could cause you to:
ltrip and fall
ldrag the product off of its mounting location
ldamage the cable connections.
A blue circle symbol is an action or tip that you should obey. Some examples
include:
lGeneral tip
lRead the manual/section
lWear protective safety equipment (eye protection, ear protection, gloves)
lIf applicable, do not lift unassisted
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DANGER: To decrease the risk of electrical shock, injury, death, and damage to the
equipment, obey the precautions that follow.
1. Before you do maintenance to the equipment, disconnect the electrical power.
2. Restrict access to the drive rack when it is connected to a power source.
3. Do not connect or disconnect electrical components, wires, and cables while this
product is connected to a power source.
4. 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.
5. Supply each operator with the necessary protection from live electrical circuits.
6. Make sure that all components are grounded correctly and that they obey the local
electrical safety requirements.
7. Install the necessary precautions to supply safety and protection to the operator.
DANGER: System travel can cause crush, shear, or pinch injuries. Restrict access to all
motor and stage parts while your system is connected to a power source.
WARNING: To prevent damage to the equipment and decrease the risk of electrical
shock and injury, obey the precautions that follow.
1. Make sure that all system cables are correctly attached and positioned.
2. Do not use the cables or the connectors to lift or move this product.
3. Use this product only in environments and operating conditions that are approved
in this manual.
4. Only trained operators should operate this equipment.
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Handling and Storage
Unpacking the drive rack
IMPORTANT: All electronic equipment and instrumentation is wrapped in antistatic
material and packaged with desiccant. Ensure that the antistatic material is not
damaged during unpacking.
Inspect the shipping container for any evidence of shipping damage. If any damage exists, notify the
shipping carrier immediately.
Remove the packing list from the shipping container. Make sure that all the items specified on the
packing list are contained within the package.
The documentation for the drive rack is on the included installation device. The documents include
manuals, interconnection drawings, and other documentation pertaining to the system. Save this
information for future reference. Additional information about the system is provided on the Serial
and Power labels that are placed on the chassis.
The system serial number label contains important information such as the:
lCustomer order number (please provide this number when requesting product support)
lDrawing number
lSystem part number
Handling
IMPORTANT: It is the responsibility of the customer to safely and carefully lift and
move the drive rack.
lBe careful when you move or transport the drive rack.
lRefer to Section 1.2. Mechanical Specifications for dimensions and weight spe-
cifications.
lRetain the shipping materials for future use.
lTransport or store the drive rack in its protective packaging.
WARNING: Electrostatic Discharge (ESD) Sensitive Components!
You could damage the power supply or drives if you fail to observe the correct
ESDpractices.
Wear an ESDwrist strap when you handle, install, or do service to the system assembly.
Storage
Store the drive rack in the original shipping container. If the original packaging included
ESDprotective packaging, make sure to store the drive rack in it. The storage location must be dry,
free of dust, free of vibrations, and flat.
Refer to Section 1.3. Environmental Specifications
iXR3/XR3 Hardware Manual Handling and Storage
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Installation Overview
The images that follow show the order in which to make connections and settings that are typical to
the iXR3/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.
Figure 1: Installation ConnectionOverviewfor the iXR3
1Connect the power source to the AC Power Input. Section 2.1.1.
2Connect the PCto the USB or Ethernet port. N/A
3Connect the next drive in the system to the HyperWire Out port. Section 2.11.
4Connect the motors to the Motor Power inputs. Section 2.2.
5Connect the motors to the Motor Feedback inputs. Section 2.3.
Figure 2: Installation ConnectionOverviewfor the XR3
1Connect the power source to the AC Power Input. Section 2.1.1.
2Connect a PCHyperWire port to the HyperWire Inport. Section 2.11.
3Connect the motors to the Motor Power inputs. Section 2.2.
4Connect the motors to the Motor Feedback inputs. Section 2.3.
Installation Overview iXR3/XR3 Hardware Manual
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Chapter 1: iXR3/XR3 Overview
The iXR3/XR3 are high-performance, 6-axis drive racks with field replaceable front-mounted
amplifiers. All versions are 3U in size and rack-mountable.
lThe iXR3 runs the Automation1-iSMC controller to generate commands for itself as well as for
additional drives on the chain.
lThe XR3 is based on the HyperWire communication protocol and receives commands from a PC or
drive-based controller.
Figure 1-1: iXR3 Connection Overview
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Figure 1-2: XR3 Connection Overview
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Table 1-1: FeatureSummary
Standard Features
lTwo independent bus supplies (factory configured) (Section 1.1.)
lLinear or PWM amplifiers (Section 1.1.)
lSoftware configurable for brush, brushless, ceramic, and stepper motor operation (Section 2.2.)
l6 channels of line driver square wave or optional analog sine wave quadrature encoder
position and/or velocity feedback (Section 2.3.)
lSingle axis PSO (Laser Firing) standard (2- and 3-axis firing optional) (Section 2.4.)
lOne 10/100/1000 BASE-T Ethernet Port (iXR3 Only)
lOne USB2.0 Type CPort (iXR3 Only)
lTwo 10/100/1000 BASE-T Industrial Ethernet Ports (iXR3 Only)
Auxiliary Power Outputs
l+5 V provided on all axis feedback connectors for encoder, Hall, and limit power (Section 2.3.)
l+5 Vprovided on I/O connectors (Section 2.8.)
I/O
lBrake Output (Section 2.3.)
lThree PSO External Sync inputs (Section 2.4.)
lThree TTL or isolated PSOoutputs (Section 2.4.2.)
lOne Data Acquisition Input (Section 2.4.4.)
lUp to 12 High Speed Differential outputs (Section 2.5.)
l16 digital outputs (Section 2.6.)
l16 digital inputs (Section 2.7.)
lTwo 16-bit analog outputs per axis (Section 2.9.1.)
lTwo 16-bit differential analog inputs per axis; two inputs used for joystick inputs (Section 2.9.2.)
lThree dedicated joystick digital inputs (Section 2.9.3.)
lTwo STOsense Inputs (Section 2.10.)
Feedback / Limit Inputs
lEncoder / Marker Inputs (primary) (Section 2.3.1.)
lHall Inputs (3 per axis) (Section 2.3.2.)
lFour analog sensor inputs per axis with one used as a motor over-temperature input and one
used as an encoder fault input
nThermistor (Section 2.3.3.)
nEncoder Fault (Section 2.3.4.)
lCW, CCW, and Home Limit Inputs (Section 2.3.5.)
lEncoder / Marker Inputs (auxiliary) (Section 2.8.)
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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)
-- -- -VB0 Not wired (Bus Voltage 2 only)
-VB1 ±10 VDC (200 W Power Supply), bipolar -VB1 ±10 VDC (200 W Power Supply), bipolar
-VB2 ±20 VDC (200 W Power Supply), bipolar -VB2 ±20 VDC (200 W Power Supply), bipolar
-VB3 ±30 VDC (200 W Power Supply), bipolar -VB3 ±30 VDC (200 W Power Supply), bipolar
-VB4 ±40 VDC (300 W Power Supply), bipolar -VB4 ±40 VDC (300 W Power Supply), bipolar
-VB5 ±80 VDC (300 W Power Supply), bipolar -VB5 ±80 VDC (300 W Power Supply), bipolar
-VB7 160 VDC, unipolar -VB7 160 VDC, unipolar
-VB8 320 VDC, unipolar -VB8 320 VDC, unipolar
Split Bus Options
-SB0 No split, Axis 1-6 Bus Voltage 1
-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
Axis Control Board (Section 2.3.1.3.)
Axis 1 (Required) Axis 2-6 (Optional)
-CT0 No control board 0 No control board
-CTN No multiplier N No multiplier
-CT1 Primary feedback multiplier (standard
performance) 1Primary feedback multiplier (standard performance)
-CT2 Primary feedback multiplier (high
performance) 2Primary feedback multiplier (high performance)
-CT4 Primary and auxiliary multiplier (high
performance) 4Primary and auxiliary multiplier (high performance)
Note:"-CT" is applied to the first axis option only. A three axis order would look like:-CT111.
Axis Amplifier (Section 1.1.)
Axis 1 (Required) Axis 2-6 (Optional)
-P0 None P0 None
-P1 XSP3-10 PWMamplifier P1 XSP3-10 PWMamplifier
-P2 XSP3-20 PWMamplifier P2 XSP3-20 PWMamplifier
-P3 XSP3-30 PWMamplifier P3 XSP3-30 PWMamplifier
-L1 XSL3-10-40 linearamplifier L1 XSL3-10-40 linearamplifier
Note:"-" is applied to the first axis option only. A three axis order would look like:-P1P1P1.
Chapter 1: iXR3/XR3 Overview iXR3/XR3 Hardware Manual
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Cooling Options (Section 2.14.)
-C0 Built-in fan pulls cooling air from left side through the amplifier compartment
-C1 No cooling fan. External cooling through vented covers is required.
-C2 1U-high fan tray for cooling
Mounting Options (Section 1.2.)
-MT0 Rack-mounted configuration
-MT1 Rack-mounted configuration with drawer slides
Line Cord Options
-LC0 No line cord
-LC1 U.S. 115 VAC line cord
-LC2 U.S. 230 VAC 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
PSO (Section 2.4.)
-PSO1 One-axis PSO firing (includes One-axis Part-Speed PSO)
-PSO2 Two-axis PSO firing (includes Two-axis Part-Speed PSO)
-PSO3 Three-axis PSO firing (includes Three-axis Part-Speed PSO)
-PSO5 Two-axis Part-Speed PSO firing, which uses the PSO firing circuit based off of the
commanded vector velocity of up to 2 axes (includes One-Axis PSO).
-PSO6 Three-axis Part-Speed PSO firing, which uses the PSO firing circuit based off of the
commanded vector velocity of 3 or more axes (includes One-Axis PSO).
Internal Shunt (Section 2.1.4.)
-SI0 No internal shunt
-SI1 Internal shunt for first bus
-SI2 Internal shunt for second bus
-SI3 Internal shunt for first and second bus
Version
-DEFAULT Firmware Matches Software Line
-LEGACY Legacy Firmware Version X.XX.XXX
iXR3/XR3 Hardware Manual Chapter 1: iXR3/XR3 Overview
www.aerotech.com 19

The block diagram that follows shows a summary of the connector signals.
Figure 1-3: Functional Diagram
Chapter 1: iXR3/XR3 Overview iXR3/XR3 Hardware Manual
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