Npaq® MR Series

Drive Racks

Npaq® MR Series
Drive Racks
3U, 19-inch rack-mount design with integral
drives
Flexible design provides the ability to drive
brush, brushless, or stepper motors with thesame amplifier
5 A continuous, 10 amp peak output current

Npaq MR is a 3U, 19-inchrack-mount 4- or 8-axis driverack.

PWM or linear amplifiers
Integral power supplies
IEEE-1394 FireWire® interface
Digital current, velocity, and position loops for
improved motion stability
Optional Ethernet for I/O expansion
Integrated encoder multiplier for higher
throughput and reduced wiring
NRTL safety certification and CE approval

The Npaq® MR is a cost-effective, high performance, 4- or
8-axis drive rack. All versions are 3U in size, rackmountable, and compatible with the Automation 3200
motion platform.
Featuring high-performance double-precision DSPs, theNpaq MR family performs both current loop and servo-loop
closures digitally to ensure the highest level of positioning
accuracy and rate stability. It is this processing capability
that allows the Npaq MR to provide loop closure rates up to
20 kHz and to handle both digital and analog I/Oprocessing, data collection, laser firing, and encoder
multiplication tasks in real time.

1

An example of an Npaq MR
installed in the machine baseof a gantry system.

Standard options for the Npaq MR include integrated
encoder multiplication, per axis brake control logic, I/O
expansion, and integrated emergency stop circuitry.
The Npaq MR uses integral amplifiers supporting bothlinear and PWM topologies to control brushless, DC brush,or stepper motor types. The Npaq MR supports one
integrated motor operation voltage with mains turn-on
current limiting.
The Npaq MR supports single-axis position synchronizedoutput (PSO) for precise synchronizing of external devices,and supports per axis I/O options with up to 64 optoisolated inputs and outputs available to the user.

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Npaq® MR Series COMPONENTS
Npaq MR Rear View
FireWire®

Drive Racks

Motor Feedback

Auxiliary Encoder
Joystick

Npaq® MR Series

AC Power Input

Motor Output

Digital/Analog IO
ESTOP

Integrated Amplifier Electrical Specifications

MP

ML

Output Voltage

VDC

10, 20, 30, 40, 80

10, 20, 30, 40

Peak Output Current

A

10

10(1)

Continuous Output Current

A

5

5(1)

PWM Switching Frequency

kHz

20

N/A

Power Amplifier Bandwidth

kHz

Software Selectable

Software Selectable

Minimum Load Inductance

mH

0.1

0

Operating Temperature°C

0 to 50

0 to 50

Storage Temperature°C-20 to 85-20 to 85

Weight

kg

0.5

0.5

Notes:
1. Actual current ratings dependent on motor resistance.

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Npaq® MR Series SPECIFICATIONS

Npaq® MR Series

Drive Racks

Units

Npaq MR

Number of Axes

1 to 8

Encoder Inputs

1 Primary and 1 Auxiliary Per Axis
Brush, Brushless, Stepper

Motor Style
Power Supply

VAC

Single-Phase 100-240 VAC; 50/60 Hz (Factory Configured)

Bus Voltage

VDC

10-80

Peak Output Current (1 sec)(1)

Apk

10

Continuous Output Current(1)Apk5Digital Inputs—

Optional(2)Digital Outputs—

Optional(2)Analog Inputs—

One 12-bit Differential Per Axis

Analog Outputs—

Dedicated Axis I/O on Feedback Connector
Dedicated I/O on Auxiliary Feedback
Connector
I/O Expansion Board(2)Optional(2)Three Limit Inputs (CW, CCW, Home); Three Hall Effect Inputs (A, B, C); Three High-Speed
Differential Inputs (sin, cos, mkr for encoder); Motor Over-Temperature Input
sin, cos, mkr for Aux Enc; mkr can be used for PSO Output—

One 12-bit Differential Analog Input; One 16-bit Analog Output; Eight Digital Inputs, Optically
Isolated, Sinking or Sourcing; Eight Optically-Isolated Digital Outputs per Axis

High Speed Data Capture

Yes

High Speed Digital Outputs

No
No

Bi-Directional Lines
Automatic Brake Control—

Optional

Emergency Stop (ESTOP)—

Optional

Position Synchronized Output (PSO)—

Single Axis Standard
Only With MXH Option

Can Output Multiplied Encoder

Yes

Can Output Square Wave Encoder
Primary Encoder Input Frequency with
Multiplication

200 kHz sine wave (MXU); 450 kHz sine wave (MXH)

Primary Encoder Input Frequency – Square
Wave

10 MHz square wave frequency/40 MHz count rate

Secondary Encoder Input Frequency

10 MHz square wave frequency/40 MHz count rate
No

Laser Feedback Support
Encoder Multiplication(3)—x4096 (MXU); x65536 (MXH)

Resolver Interface

—

No
No

Internal Shunt Resistor

No

External Shunt
Ethernet

—

No
No

USB
RS-232No

FireWire

Yes

Fieldbus

Modbus TCP on PC
Yes

Joystick
Current Loop Update RatekHz

Servo Loop Update RatekHz

8Power Amplifier Bandwidth

kHz

Selectable Through Software

Minimum Load InductancemH

0.1 mH with PWM; 0 with Linear

Operating Temperature°C

0 to 50

Storage Temperature°C-30 to 85

Weightkg (lb)

Package20

16 (35)
Amplifiers Installed at Factory

Notes:
1. Peak value of the sine wave; rms current for AC motors is 0.707 * Apk.
2. Requires IO option.
3. Effective resolution after quadrature decoding if applicable.

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Npaq® MR Series DIMENSIONS
4-Axis Chassis
Drive Racks
Npaq® MR Series

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4Npaq® MR Series DIMENSIONS

Npaq® MR Series

Drive Racks

8-Axis Chassis

5

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Npaq® MR Series ORDERING INFORMATION
Ordering Example/4AXIS-BOX-A-4-40LP/1-MP10I/2-MP10/3-MP10

Base

PackageLine Voltage

Bus Power
SupplyAxis 1 Amp

Axis 2 Amp

Axis 3 Amp/4AXIS-BOX/8AXIS-BOX

-A
-B
-C
-D

-4-40LP-4-80LP-4-40-4-80-4-10B-4-20B-4-30B-4-40B-8-40LP-8-80LP-8-40-8-80-8-10B-8-20B-8-30B-8-40B/1-MP10/1-MP10I/1-MP10M/1-MP10MI/1-MP10-HB/1-MP10I-HB/1-MP10M-HB/1-MP10MI-HB/1-ML10/1-ML10I/1-ML10M/1-ML10MI/1-ML10H/1-ML10HI/2-MP10/2-MP10I/2-MP10M/2-MP10MI/2-MP10-HB/2-MP10I-HB/2-MP10M-HB/2-MP10MI-HB/2-ML10/2-ML10I/2-ML10M/2-ML10MI/2-ML10H/2-ML10HI/3-MP10/3-MP10I/3-MP10M/3-MP10MI/3-MP10-HB/3-MP10I-HB/3-MP10M-HB/3-MP10MI-HB/3-ML10/3-ML10I/3-ML10M/3-ML10MI/3-ML10H/3-ML10HI

Drive Racks

Npaq MR

Ordering Example (continued)/4-MP10/5-MP10/6-MP10/7-MP10/8-MP10/US-115VAC/Brake-2

Axis 4 Amp

Axis 5 Amp

Axis 6 Amp

Axis 7 Amp

Axis 8 Amp

Line Cord

Brake Options/4-MP10/4-MP10I/4-MP10M/4-MP10MI/4-MP10-HB/4-MP10I-HB/4-MP10M-HB/4-MP10MI-HB/4-ML10/4-ML10I/4-ML10M/4-ML10MI/4-ML10H/4-ML10HI/5-MP10/5-MP10I/5-MP10M/5-MP10MI/5-MP10-HB/5-MP10I-HB/5-MP10M-HB/5-MP10MI-HB/6-MP10/6-MP10I/6-MP10M/6-MP10MI/6-MP10-HB/6-MP10I-HB/6-MP10M-HB/6-MP10MI-HB/7-MP10/7-MP10I/7-MP10M/7-MP10MI/7-MP10-HB/7-MP10I-HB/7-MP10M-HB/7-MP10MI-HB/8-MP10/8-MP10I/8-MP10M/8-MP10MI/8-MP10-HB/8-MP10I-HB/8-MP10M-HB/8-MP10MI-HB/ENGLAND/GERMANY/ISRAEL/INDIA/AUSTRALIA/US-115VAC/US-230VAC/NO-LINECORD/BRAKE-1/BRAKE-2/BRAKE-3/BRAKE-4/BRAKE-5/BRAKE-6/BRAKE-7/BRAKE-8

Npaq MR
Npaq MR

Rack-mount digital amplifier chassis with integral DC power supply and FireWire® interface. Supports 4 or 8 axesof brush, brushless, or stepper motor amplifiers.
-Dedicated I/O per axis includes: CW, CCW, and home limits, sin, cos, mkr, Hall effect sensors, motor overtemperature, ext fault-User defined I/O included on I/O option board: 8 opto-isolated inputs (sinking or sourcing), 8 outputs (sinking or
sourcing), one 12-bit analog input, one 16-bit analog output and brake relay

Package/4AXIS-BOX/8AXIS-BOX

Supports up to 4 axes of motion
Supports up to 8 axes of motion

Line Voltage
-A
-B
-C
-D

115 VAC line
230 VAC line
100 VAC line
200 VAC line

Bus Power Supply-4-40LP-4-80LP-4-40

Four-axis rack with 40 VDC bus; up to 300 watts
Four-axis rack with 80 VDC bus; up to 300 watts
Four-axis rack with 40 VDC bus; up to 600 watts

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Npaq® MR Series

Drive Racks

Npaq® MR Series ORDERING INFORMATION-4-80-4-10B-4-20B-4-30B-4-40B-8-40LP-8-80LP-8-40-8-80-8-10B-8-20B-8-30B-8-40B

Four-axis rack with 80 VDC bus; up to 600 watts
Four-axis rack with ±10 VDC bus; up to 400 watts
Four-axis rack with ±20 VDC bus; up to 400 watts
Four-axis rack with ±30 VDC bus; up to 400 watts
Four-axis rack with ±40 VDC bus; up to 800 watts
Eight-axis rack with 40 VDC bus; up to 500 watts
Eight-axis rack with 80 VDC bus; up to 500 watts
Eight-axis rack with 40 VDC bus; up to 500 watts
Eight-axis rack with 80 VDC bus; up to 1000 watts
Eight-axis rack with ±10 VDC bus; up to 400 watts
Eight-axis rack with ±20 VDC bus; up to 400 watts
Eight-axis rack with ±30 VDC bus; up to 400 watts
Eight-axis rack with ±40 VDC bus; up to 600 watts

Axis 1 Amplifier Options/1-MP10/1-MP10I/1-MP10M/1-MP10MI/1-MP10-HB/1-MP10I-HB/1-MP10M-HB/1-MP10MI-HB/1-ML10/1-ML10I/1-ML10M/1-ML10MI/1-ML10H/1-ML10HI

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
Linear amplifier, 10 A peak, 5 A continuous
Linear amplifier, 10 A peak, 5 A continuous with I/O option
Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Axis 2 Amplifier Options/2-MP10/2-MP10I/2-MP10M/2-MP10MI/2-MP10-HB/2-MP10I-HB/2-MP10M-HB/2-MP10MI-HB/2-ML10/2-ML10I/2-ML10M/2-ML10MI/2-ML10H/2-ML10HI

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
Linear amplifier, 10 A peak, 5 A continuous
Linear amplifier, 10 A peak, 5 A continuous with I/O option
Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Axis 3 Amplifier Options/3-MP10/3-MP10I/3-MP10M/3-MP10MI/3-MP10-HB/3-MP10I-HB/3-MP10M-HB/3-MP10MI-HB/3-ML10/3-ML10I

7

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
Linear amplifier, 10 A peak, 5 A continuous
Linear amplifier, 10 A peak, 5 A continuous with I/O option

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Npaq® MR Series ORDERING INFORMATION
Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option

Drive Racks/3-ML10M/3-ML10MI/3-ML10H/3-ML10HI

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Axis 4 Amplifier Options
Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
Linear amplifier, 10 A peak, 5 A continuous
Linear amplifier, 10 A peak, 5 A continuous with I/O option
Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option

Npaq® MR Series/4-MP10/4-MP10I/4-MP10M/4-MP10MI/4-MP10-HB/4-MP10I-HB/4-MP10M-HB/4-MP10MI-HB/4-ML10/4-ML10I/4-ML10M/4-ML10MI/4-ML10H/4-ML10HI

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Axis 5 Amplifier Options/5-MP10/5-MP10I/5-MP10M/5-MP10MI/5-MP10-HB/5-MP10I-HB/5-MP10M-HB/5-MP10MI-HB

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Axis 6 Amplifier Options/6-MP10/6-MP10I/6-MP10M/6-MP10MI/6-MP10-HB/6-MP10I-HB/6-MP10M-HB/6-MP10MI-HB

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Axis 7 Amplifier Options/7-MP10/7-MP10I/7-MP10M/7-MP10MI/7-MP10-HB/7-MP10I-HB/7-MP10M-HB/7-MP10MI-HB

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

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Npaq® MR Series ORDERING INFORMATION

Npaq® MR Series

Drive Racks

Axis 8 Amplifier Options/8-MP10/8-MP10I/8-MP10M/8-MP10MI/8-MP10-HB/8-MP10I-HB/8-MP10M-HB/8-MP10MI-HB

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Line Cord (must select one)/ENGLAND/GERMANY/ISRAEL/INDIA/AUSTRALIA/US-115VAC/US-230VAC/NO-LINECORD

UK compatible line cord
German compatible line cord
Israel compatible line cord
India compatible line cord
Australia compatible line cord
US 115 VAC line cord
US 230 VAC line cord
No line cord

Brake Options (up to 4 selections allowable)/BRAKE-1/BRAKE-2/BRAKE-3/BRAKE-4/BRAKE-5/BRAKE-6/BRAKE-7/BRAKE-8

Axis 1 wired for 24 V, 1 A brake
Axis 2 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 3 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 4 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 5 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 6 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 7 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 8 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)

Options (multiple selections allowable)-ESTOP1-ESTOP2-ESTOP3-SLIDE

9Controller stops motion, then disables servo control. Internal positive guided relay with monitor contact
disconnects AC power source from motor. Operator risk assessment is the responsibility of the end user or
integrator.
Same as ESTOP1 but uses two relays
Same as ESTOP2 but contains 1 second bus discharge resistors
Rack-mount slides

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