Aerotech's XR3 six-axis drive rack with field-replaceable, front-mounted, 3U plug-in amplifiers supports both linear and PWM topologies. The XR3 can control any combination of brushless, DC brushed or stepper motors at up to 320V DC operating voltage and 30A peak current capability. Both the current loop and servo loop are digitally closed to ensure positioning accuracy and rate stability. This processing capability allows the XR3 to provide loop closure rates up to 20kHz and to handle both digital and analogue I/O processing, data collection, process control, and encoder multiplication tasks in real time.