Npaq Drive Rack

Description

Design Features

  • 3U plug-in drives
  • 19 inch rack-mount design
  • Flexible design provides the ability to drive brush, brushless, or stepper motors with the same amplifier
  • 5 A to 30 A peak output current
  • 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 or resolver feedback
  • UL and CE approval

The Npaq® is a high-performance, 6-axis drive rack with field replaceable front-mounted drives. All versions are 3U in size, rack-mountable, and compatible with the Automation 3200 motion platform.

Featuring high-performance double-precision DSPs, the Npaq 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.

Standard 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 are joined together for even higher power capability. The Npaq has a dedicated Ethernet port used to communicate with third-party I/O modules for increased I/O count applications.

The Npaq supports up to three axes of Position Synchronized Output (PSO) for precise synchronizing of external devices, over-voltage shunt controller, and external fans for high-power operation.

Specifications

AmplifiersDP32010EDP32020EDP32030EDL4010
Control Type Brushless, DC Brush, Stepper
Output Type PWM PWM PWM Linear
Output Voltage (VDC) 10320 10320 10320 1040 (Bipolar)
Continuous Current 5 10 10 5(1)
Peak Current 10 20 30 10(1)
Minimum Load(2) 0.1 mH 0.1 mH 0.1 mH 0 ohms
Protection Short Circuit Protection; Overload Protection; Low Level Power Supply Detection and Fuse
Switching Frequency 20 kHz 20 kHz 20 kHz N/A
  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
UnitsNpaq
Number of Axes 1 to 6
Encoder Inputs 1 to 6; Additional Through High-Speed Input
Motor Style Brush, Brushless, Stepper
Power Supply VAC Single-Phase 100240 VAC; 50/60 Hz (Factory Configured)
Bus Voltage VDC 10-320
Peak 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
Dedicated Axis I/O on Feedback Connector 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
Dedicated I/O on Auxiliary Feedback Connector N/A
I/O Expansion Board(2) Four Analog Inputs, Six Analog Outputs
High Speed Data Capture Four Differential Inputs (1 µs Response Time)
High Speed Digital Outputs Six Differential Outputs
BiDirectional Lines 3
Automatic Brake Control Optional
Emergency Stop (ESTOP) Optional
Position Synchronized Output (PSO) Single Axis Standard; Two/Three Axis Optional
Can Output Multiplied Encoder Yes
Can Output Square Wave Encoder Yes
Primary Encoder Input Frequency with Multiplication 450 kHz or 2 MHz 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
Laser Feedback Support Yes
Encoder Multiplication(3) Up to x65536 With Quadrature Output (MXR)
Resolver Interface Optional; 16 bit
Internal Shunt Resistor 40 W Continuous; 400 W Peak (5 seconds)
External Shunt Optional
Ethernet Optional
USB No
RS232 No
FireWire Yes
Fieldbus Modbus TCP on PC
Joystick Support Yes
Current Loop Update Rate kHz 20
Servo Loop Update Rate kHz 8
Power Amplifier Bandwidth kHz Selectable Through Software
Minimum Load Inductance mH 0.1 mH with PWM; 0 with Linear
Operating Temperature °C 0 to 50
Storage Temperature °C -30 to 85
Weight kg (lb) 24 (55)
Package Slice Amplifier Installed in Front
  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.

Dimensions

  • Npaq
  • Npaq with Chassis Slide

Ordering Information

Ordering Example: Required

BasePower InputVbus1Vbus2Controller
Options		Amp16Split BusCooling
Npaq -A -10B -0 -ULTRA /1-DL4010 /NO SPLIT /STAND

Line CordMounting OptionsBrakeLine FilterOptionsPSO OptionsEncoder Multiplier OptionsMotor Output
/US-115-VAC /SLIDES /BRAKE-z /AC LINE FILTER /ENET /SINGLEPSO /MXR-1 /M1

Ordering Options: Required

BasePower InputVbus1Vbus2Controller
Options		Amp16Split BusCooling
-A
-B
-C
-D		 -0
-10B
-20B
-30B
-40B
-80B
-160LT
-320LT		 -0
-10B
-20B
-30B
-40B
-80B
-160LT
-320LT		 -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


Line CordMounting OptionsBrakeLine FilterOptionsPSO OptionsEncoder Multiplier OptionsMotor Output
/ENGLAND
/GERMANY
/ISRAEL
/INDIA
/AUSTRALIA
/US115VAC
/US230VAC
/NOLINECORD		 /STANDARD
/SLIDES		 /BRAKE-z
/BRAKEIO		 /AC LINE FILTER /ENET
/ESTOP1
/ESTOP2
/ESTOP3
/LINESEL
/LINESEL-MX
S160-1
S160-2
S320-1
S320-2
/AIO		 /SINGLEPSO
/DUALPSO
/TRIPLEPSO
/PSONC		 /MXR-1
/MXR-2
/MXR-3
/MXR-4
/MXR-5
/MXR-6
/MXR2M-1
/MXR2M-2
/MXR2M-3
/MXR2M-4
/MXR2M-5
/MXR2M-6		 /M1
/M2
/M3
/M4
/M5
/M6

Npaq

OptionsDescription
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 40MHz quadrature encoder input (analog input optional)

Power Input (Required)

OptionsDescription
-A 115 VAC
-B 230 VAC
-C 100 VAC
-D 208 VAC

Bus Voltage (Vbus1) (Required) Configures the bus voltage for Vbus1

OptionsDescription
-0 Not wired
-10B ±10 VDC (200 W power supply), bipolar
-20B ±20 VDC (200 W power supply), bipolar
-30B ±30 VDC (200 W power supply), bipolar
-40B ±40 VDC (300 W power supply), bipolar
-80B ±80 VDC (300 W power supply), bipolar
-160LT 160 VDC (does not include transformer), unipolar, used with DP320XX
-320LT 320 VDC (does not include transformer), unipolar, used with DP320XX

Bus Voltage (Vbus2) (Required) Configures the bus voltage for Vbus2

OptionsDescription
-0 Not wired
-10B ±10 VDC (200 W power supply), bipolar
-20B ±20 VDC (200 W power supply), bipolar
-30B ±30 VDC (200 W power supply), bipolar
-40B ±40 VDC (300 W power supply), bipolar
-80B ±80 VDC (300 W power supply), bipolar
-160LT 160 VDC (does not include transformer), unipolar, used with DP320XX
-320LT 320 VDC (does not include transformer), unipolar, used with DP320XX

Controller Options (Required)

OptionsDescription
-ULTRA 6 axis control board

Npaq Amplifiers (Required)

OptionsDescription
/DP32010E 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
/DP32020E 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
/DP32030E 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
/DL4010 Brushless motor driver, ±40 V, 5 A cont., 10 A peak, linear DC, 3U height; actual current depends on motor parameters

Split Bus (Required)

OptionsDescription
/SPLIT BUS 1/2-6 Axis 1 Vbus1; Axis 2-6 Vbus2
/SPLIT BUS 1-2/3-6 Axis 1-2 Vbus1; Axis 3-6 Vbus2
/SPLIT BUS 1-3/4-6 Axis 1-3 Vbus1; Axis 4-6 Vbus2
/SPLIT BUS 1-4/5-6 Axis 1-4 Vbus1; Axis 5-6 Vbus2
/SPLIT BUS 1-5/6 Axis 1-5 Vbus1; Axis 6 Vbus2
/SPLIT BUS 1-6 (NO SPLIT) Axis 1-6 Vbus1

Cooling Options (Required)

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

Linecord (Required)

OptionsDescription
/ENGLAND U.K. compatible line cord
/GERMANY German compatible line cord
/ISRAEL Israel compatible line cord
/INDIA India compatible line cord
/AUSTRALIA Australia compatible line cord
/US-115VAC U.S. 115 VAC line cord
/US-230VAC US 230 VAC line cord
/NO-LINECORD No line cord

Mounting Options (Required)

OptionsDescription
/STANDARD Rack mount
/SLIDES Rack-mounted drawer slides

Brake Options (Optional)

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

Line Filter (Optional)

OptionsDescription
/AC LINE FILTER AC line filter for reducing conducted emissions; required for CE

Options

OptionsDescription
/ENET 10/100 BASE-T Ethernet port
/ESTOP1 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
/ESTOP2 Same as ESTOP1 but uses two relays
/ESTOP3 Same as ESTOP2 but contains 1 second bus discharge resistors
/LINESEL User selectable input voltages
/LINESEL-MX User selectable input voltages; for MXR option
/S160-1 Shunt for Vbus1; 160 VDC operation
/S160-2 Shunt for Vbus2; 160 VDC operation
Note: Both shunts permitted for 160 VDC option.
/S320-1 Shunt for Vbus1; 320 VDC operation
/S320-2 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)

OptionsDescription
/SINGLEPSO Single axis PSO
/DUALPSO Dual axis PSO
/TRIPLEPSO Triple axis PSO
/PSO-NC PSO output signal is normally closed; output is open when PSO is active

Encoder Multiplier Options

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

OptionsDescription
/M1 Axis 1 motor output wiring installed
/M2 Axes 1-2 motor output wiring installed
/M3 Axes 1-3 motor output wiring installed
/M4 Axes 1-4 motor output wiring installed
/M5 Axes 1-5 motor output wiring installed
/M6 Axes 1-6 motor output wiring installed

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

Resolver (Optional)

OptionsDescription
/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)

OptionsDescription
/JI 4-way industrial joystick sealed for harsh environments; includes 1.5 m (5 ft) cable and three dedicated function buttons
/JBV Joystick with 5 ft cable