Npaq® Series

Drive Racks

Npaq® Series
Drive Racks
3U plug-in drives
19 inch rack-mount design
Flexible design provides the ability to drive
brush, brushless, or stepper motors with thesame amplifier
5 A to 30 A peak output current

Npaq

PWM or linear amplifier
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
Encoder feedback
NRTL safety certification and CE approval

The Npaq® is a high-performance, 6-axis drive rack withfield replaceable front-mounted drives. All versions are 3U
in size, rack-mountable, and compatible with theAutomation 3200 motion platform.
Featuring high-performance double-precision DSPs, theNpaq family performs both current loop and servo-loop
closures digitally to assure the highest level of positioning
accuracy and rate stability. It is this processing capability
that allows the Npaq to provide loop closure rates up to 20
kHz and to handle both digital and analog I/O processing,data collection, laser firing, and encoder multiplication
tasks in real time.

1Standard options for the Npaq family include integrated
encoder multiplication, per-axis brake control logic, I/O
expansion, and integrated emergency stop circuitry.
The Npaq uses plug-in amplifiers supporting both linear
and PWM topologies to control brushless, DC brush, or
stepper motor types at up to 320 VDC operating voltage
and 30 A peak current capability. The Npaq contains two
configurable power supply sections to support a variety of
motors with different operating voltages. When only one
motor voltage is required, the power supply sections arejoined together for even higher power capability. The Npaq
has a dedicated Ethernet port used to communicate withthird-party I/O modules for increased I/O countapplications.
The Npaq supports up to three axes of Position
Synchronized Output (PSO) for precise synchronizing of
external devices, over-voltage shunt controller, and externalfans for high-power operation.

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Npaq® Series COMPONENTS
Npaq Rear View

Optional
Analog I/O

Drive Racks

Optional
Emergency Stop
Communication
ChannelNumbers

User I/O

Npaq® Series

FireWire
Optional Ethernet Interface

AC Power Input
Motor Output(6 through 1)

Encoder Feedback
Channel (Axis 6
through Axis 1)

Plug-in drives
Brush, brushless, or stepper
PWM or linear
Wide range of power

Amplifiers

DP32010E

DP32020E

DP32030E

DL4010

Output Type

PWM

PWM

PWM

LinearOutput Voltage (VDC)

10-32010-32010-32010-40 (Bipolar)

Brushless, DC Brush, Stepper

Control TypeContinuous Current

5

10

10

5(1)

Peak Current

10

20

30

10(1)

0.1 mH

0.1 mH0 ohmsMinimum Load(2)Protection
Switching Frequency

0.1 mH

Short Circuit Protection; Overload Protection; Low Level Power Supply Detection and Fuse
20 kHz

20 kHz

20 kHz

N/A

Notes:
1. Actual current ratings dependent on motor resistance
2. Minimum load is based on output voltage; 0.1 mH is minimum load at 160 VDC, 1.0 mH at 320 VDC

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Npaq® Series SPECIFICATIONS

Npaq® Series

Drive Racks

Units

Npaq

Number of Axes

1 to 6

Encoder Inputs

1 to 6; Additional Through High Speed Input
Brush, Brushless, Stepper

Motor Style
Power Supply

VAC

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

Bus Voltage

VDC

10-320Peak Output Current (1 sec)(1)Apk

10, 20, 30

Continuous Output Current(1)Apk

5, 10, 10

Digital Inputs—

Eight Optically-Isolated

Digital Outputs—

Eight Optically-Isolated

Analog Inputs—

Four 16-bit Differential; ±1 V to ±10 V

Analog Outputs—

Two 16-bit Single-Ended; ±10 V
Three Limit Inputs (CW, CCW, Home); Three Hall Effect Inputs (A, B, C); Three HighSpeed Differential Inputs (sin, cos, mkr for encoder); Motor Over-Temperature Input

Dedicated Axis I/O on Feedback Connector

N/A

Dedicated I/O on Auxiliary Feedback Connector
I/O Expansion Board(2)—Four Analog Input; Six Analog Output

High Speed Data Capture

Four Differential Inputs (1 µs Response Time)High Speed Digital Outputs

Six Differential Outputs
3

Bi-Directional Lines
Automatic Brake Control—

Optional

Emergency Stop (ESTOP)—

Optional

Position Synchronized Output (PSO)—

Single Axis Standard, Two/Three Axis Optional
Yes

Can Output Multiplied Encoder

Yes

Can Output Square Wave Encoder

200 kHz (MXR) or 2 MHz (MXR2M) Sine Wave

Primary Encoder Input Frequency with Multiplication
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
Yes

Laser Feedback Support
Encoder Multiplication(3)—Up to x65536 With Quadrature Output (MXR)
Optional; 1 or 2 Channel; 16-bit

Resolver/Inductosyn Interface

40 W Continuous; 400 W Peak (5 seconds)

Internal Shunt Resistor

Optional

External Shunt—

Ethernet

Optional
No

USB
RS-232No

FireWire

Yes

Fieldbus

Modbus TCP on PC
Yes

Joystick Support
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

25 (55)
Slice Amplifier Installed in Front

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

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Npaq® Series DIMENSIONS

Drive Racks
Npaq® Series

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4Npaq® Series

Drive Racks

Npaq® Series DIMENSIONS

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Npaq® Series ORDERING INFORMATION
Ordering Example: Required
-10B

-0

-ULTRA/1-DL4010/NO SPLIT/STAND

Base

Power
Input

Vbus1

Vbus2

Controller
Options

Amp1-6

Split Bus

Cooling

-A
-B
-C
-D

-0
-10B
-20B
-30B
-40B
-80B
-160LT

-0
-10B
-20B
-30B
-40B
-80B
-160LT-ULTRA/DL4010/DP32010E/DP32020E/DP32030E/BLANK/Split Bus 1/2-6/Split Bus 1-2/3-6/Split Bus 1-3/4-6/Split Bus 1-4/5-6/Split Bus 1-5/6/Split Bus 1-6/STAND/EXT/FAN/US-115VAC/SLIDES/BRAKE-z/AC LINE
FILTER/ENET-/MXR-1/M1

Line Cord

Mounting
Options

Brake

Line Filter

Options

PSO Options

Encoder
Multiplier
Options

Motor
Output/STANDARD/SLIDES/BRAKE-z/BRAKEIO/AC LINE FILTER/ENET/ESTOP1/ESTOP2/ESTOP3/LINESEL/LINESEL-MX/S160-1/S160-2/S320-1/S320-2/AIO/DUALPSO/TRIPLEPSO/PSO-NC/ENGLAND/GERMANY/ISRAEL/INDIA/AUSTRALIA/US-115VAC/US-230VAC/NO-LINECORD/MXR-1/MXR-2/MXR-3/MXR-4/MXR-5/MXR-6/MXR2M-1/MXR2M-2/MXR2M-3/MXR2M-4/MXR2M-5/MXR2M-6

Npaq® Series-A

Drive Racks

Npaq

/M1
/M2
/M3
/M4
/M5
/M6

Npaq
Npaq

Rack-mount digital amplifier chassis with integral DC power supply and FireWire® interface. Supports up to 6
axes of brush, brushless, or stepper motor amplifiers. Includes:-8 opto-isolated digital inputs-8 opto-isolated digital outputs-4 16-bit differential analog inputs-2 16-bit analog outputs-6 channels of 40 MHz quadrature encoder input (analog input optional)

Power Input (Required)
-A
-B
-C
-D

115 VAC
230 VAC
100 VAC
208 VACBus Voltage (Vbus1) (Required) Configures the bus voltage for Vbus1-0
Not wired-10B±10 VDC (100 W power supply), bipolar-20B±20 VDC (175 W power supply), bipolar-30B±30 VDC (175 W power supply), bipolar-40B±40 VDC (175 W power supply), bipolar-80B±80 VDC (325 W power supply), bipolar-160LT
160 VDC (does not include transformer), unipolar, used with DP320XX
320 VDC supported as a custom engineered solution. Consult the factory for availability.

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Npaq® Series ORDERING INFORMATION

Npaq® Series

Drive RacksBus Voltage (Vbus2) (Required) Configures the bus voltage for Vbus2-0
Not wired-10B±10 VDC (100 W power supply), bipolar-20B±20 VDC (175 W power supply), bipolar-30B±30 VDC (175 W power supply), bipolar-40B±40 VDC (175 W power supply), bipolar-80B±80 VDC (325 W power supply), bipolar-160LT
160 VDC (does not include transformer), unipolar, used with DP320XX
320 VDC supported as a custom engineered solution. Consult the factory for availability.

Controller Options (Required)-ULTRA

6 axis control board

Npaq Amplifiers (Required)/DP32010E/DP32020E/DP32030E/DL4010

Brushless motor driver, 320 V, 5 A cont., 10 A peak, 20 kHz PWM, 3U height, enhanced resolution, requires
A3200 software version 2.13 or greater
Brushless motor driver, 320 V, 10 A cont., 20 A peak, 20 kHz PWM, 3U height, enhanced resolution, requires
A3200 software version 2.13 or greater
Brushless motor driver, 320 V, 15 A cont., 30 A peak, 20 kHz PWM, 3U height, enhanced resolution, requires
A3200 software version 2.13 or greater
Brushless motor driver, ±40 V, 5 A cont., 10 A peak, linear DC, 3U height; actual current depends on motor
parameters

Split Bus (Required)/SPLIT BUS 1/2-6/SPLIT BUS 1-2/3-6/SPLIT BUS 1-3/4-6/SPLIT BUS 1-4/5-6/SPLIT BUS 1-5/6/SPLIT BUS 1-6 (NO SPLIT)

Axis 1 Vbus1; Axis 2-6 Vbus2
Axis 1-2 Vbus1; Axis 3-6 Vbus2
Axis 1-3 Vbus1; Axis 4-6 Vbus2
Axis 1-4 Vbus1; Axis 5-6 Vbus2
Axis 1-5 Vbus1; Axis 6 Vbus2
Axis 1-6 Vbus1

Cooling Options (Required)/STAND/EXT/FAN

Built-in fan pulls cooling air from left side through the amplifier compartment
Perforated covers above and below the amplifiers; requires external fan tray for cooling (customer supplied)
Perforated covers above and below the amplifiers; includes 1U-high fan tray for cooling; fans wired to the Npaq
power switch

Linecord (Required)/ENGLAND/GERMAN/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

Mounting Options (Required)/STANDARD/SLIDESRack mount
Rack-mounted drawer slides

Brake Options (Optional)/BRAKE-z/BRAKEIO

Brake control logic and power supply; specify which axis "z" as 1, 2, 3, 4, 5 or 6
Brake control logic and power supply; brake signal wired to miscellaneous I/O connector

Line Filter (Optional)/AC LINE FILTER

7

AC line filter for reducing conducted emissions; required for CE

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Npaq® Series ORDERING INFORMATION
Options

Npaq® Series/ESTOP2/ESTOP3/LINESEL/LINESEL-MX/S160-1/S160-2

10/100 BASE-T Ethernet port
Controller 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
User selectable input voltages
User selectable input voltages; for MXR option
Shunt for Vbus1; 160 VDC operation
Shunt for Vbus2; 160 VDC operation

Drive Racks/ENET/ESTOP1

Note: Both shunts permitted for 160 VDC option.

/S320-1/S320-2

Shunt for Vbus1; 320 VDC operation
Shunt for Vbus2; 320 VDC operation

Note: Only one shunt permitted for 320 VDC option.

/AIO

Analog I/O option; adds an additional four 16-bit analog inputs and six 16-bit analog outputs

Note: High speed digital I/O not available when selecting this option.

PSO Options (Optional)/DUALPSO/TRIPLEPSO/PSO-NC

Dual axis PSO
Triple axis PSO
PSO output signal is normally closed; output is open when PSO is active

Encoder Multiplier Options (Optional)/MXR-1/MXR-2/MXR-3/MXR-4/MXR-5/MXR-6x65536 multiplier for axis 1, 450 kHz input, real-time output for PSO operation (programmable resolution)x65536 multiplier for axes 1-2, 450 kHz input, real-time output for PSO operation (programmable resolution)x65536 multiplier for axes 1-3, 450 kHz input, real-time output for PSO operation (programmable resolution)x65536 multiplier for axes 1-4, 450 kHz input, real-time output for PSO operation (programmable resolution), 3 axes max
x65536 multiplier for axes 1-5, 450 kHz input, real-time output for PSO operation (programmable resolution), 3 axes max
x65536 multiplier for axes 1-6, 450 kHz input, real-time output for PSO operation (programmable resolution), 3 axes max/MXR2M-1/MXR2M-2/MXR2M-3/MXR2M-4/MXR2M-5/MXR2M-6

x65536 multiplier for axis 1, 2 MHz input, real-time output for PSO operation (programmable resolution)x65536 multiplier for axes 1-2, 2 MHz input, real-time output for PSO operation (programmable resolution)x65536 multiplier for axes 1-3, 2 MHz input, real-time output for PSO operation (programmable resolution)x65536 multiplier for axes 1-4, 2 MHz input, real-time output for PSO operation (programmable resolution), 3 axes max
x65536 multiplier for axes 1-5, 2 MHz input, real-time output for PSO operation (programmable resolution), 3 axes max
x65536 multiplier for axes 1-6, 2 MHz input, real-time output for PSO operation (programmable resolution), 3 axes max

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

Motor Output (Required)
/M1
/M2
/M3
/M4
/M5
/M6

Axis 1 motor output wiring installed
Axes 1-2 motor output wiring installed
Axes 1-3 motor output wiring installed
Axes 1-4 motor output wiring installed
Axes 1-5 motor output wiring installed
Axes 1-6 motor output wiring installed

Note: Must be greater than or equal to the number of amplifiers in the system.

Resolver (Optional)/RDP2-y
1-2 axis RD converter board; must be on axis 1-2/RDP4-y
1-4 axis RD converter board; must be on axis 1-4/RDP6-y
1-6 axis RD converter board
Note: Where y is the carrier frequency. Options are 5, 7.5, or 10 kHz.

Accessories (Optional)
/JI
/JBV

4-way industrial joystick sealed for harsh environments; includes 1.5 m (5 ft) cable and three dedicated function
buttons
Joystick with 5 ft cablewww.aerotech.com

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