Npaq 6U High-Power Drive Rack

Description

Design Features

  • High-power 6U modular drive chassis
  • 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 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
  • Encoder and resolver feedback
  • CE approved and NRTL safety certification; follows the 2011/65/EU RoHS 2 Directive

The Npaq® 6U is designed for applications that exceed the power capacity of Aerotech’s 3U Npaq. The Npaq 6U can be configured with higher wattage transformers and a larger capacity linear amplifier that provides a nearly two-fold increase in power over the similarly configured 3U version.

Featuring high-performance, double-precision DSPs, the Npaq 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 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 motors at up to 320 VDC operating voltage and 30 A peak current capability.

The linear amplifier in the NPaq 6U has twice the output power of the 3U version (80 V and 20 A peak versus 40 V and 10 A peak) for high power, low noise applications. The Npaq contains two configurable power supply sections  rated at 600 W each 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 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

Npaq 6U Specifications

FeatureUnitsDescription
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 100-240 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
Bi-Directional 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/Inductosyn Interface   Optional; 1 or 2 Channel; 16-bit
Internal Shunt Resistor   40 W Continuous; 400 W Peak (5 seconds)
External Shunt   Optional
Ethernet   Optional
USB   No
RS-232   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) 43.6 (96)
Package   Slice Amplifier Installed in Front
Standards   CE approved, NRTL safety certification, 2011/65/EU RoHS 2 Directive
  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.
AmplifiersDP32010E6UDP32020E6UDP32030E6UDL40106UDL8010DL8020
Control Type Brushless, DC Brush, Stepper
Output Type PWM PWM PWM Linear Linear Linear
Output Voltage (VDC) 10-320 10-320 10-320 10-40 (Bipolar) 10-80 (Bipolar) 10-80 (Bipolar)
Continuous Current 5 10 10 5(1) 5 10
Peak Current 10 20 30 10(1) 10 20
Minimum Load(2) 0.1 mH 0.1 mH 0.1 mH 0 ohms 0 ohms 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 N/A 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.
    • Npaq 6U Back

    Dimensions

    • Npaq 6U with Bottom Fan Tray
    • Npaq 6U with Top Fan Tray

    Ordering Information

    Ordering Example: Required

    Npaq 6U -A -10B -0 -ULTRA -1-DL40106U -SPLIT BUS 1-6 (NO SPLIT) -FAN TRAY TOP -US-115VAC

    -SLIDES -BRAKE-z -AC LINE FILTER -ENET - -MXR-1 -LINESEL-INT -M1 -RDP2-y

    Ordering Options: Required

    Base Power InputVbus1Vbus2Controller
    Options
    Amp 1-6Split BusCoolingLinecord
    Npaq 6U -A
    -B
    -C
    -D
    -0
    -10B
    -20B
    -30B
    -40B
    -60B
    -80B
    -160LT
    -320LT
    -0
    -10B
    -20B
    -30B
    -40B
    -60B
    -80B
    -160LT
    -320LT
    -ULTRA -DP32010E6U
    -DP32020E6U
    -DP32030E6U
    -DL40106U
    -DL4005A6U
    -DL4010A6U
    -DL8010
    -DL8020
    -BLANK6U
    -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)
    -FAN TRAY TOP
    -FAN TRAY BOTTOM

    -ENGLAND
    -GERMANY
    -ISRAEL
    -INDIA
    -AUSTRALIA
    -US-115VAC
    -US-230VAC
    -NO-LINECORD

    Mounting OptionsBrakeLine FilterOptions PSO OptionsEncoder Multiplier OptionsLine Select OptionsMotor OutputResolver Options
    -SLIDES -BRAKE-z
    -BRAKEIO
    -AC LINE FILTER -JI
    -ENET
    -ESTOP1
    -ESTOP2
    -ESTOP3
    -S160-1
    -S160-2
    -S320-1
    -S320-2
    -AIO
    -BC1
    -DUALPSO
    -TRIPLEPSO
    -PSO-NC
    -MXR-1
    -MXR-2
    -MXR-3
    -MXR-4
    -MXR-5
    -MXR-6
    -MXR2M-1
    -MXR2M-2
    -MXR2M-3
    -MXR2M-4
    -MXR2M-5
    -MXR2M-6
    -LINESEL-INT
    -LINESEL-MX-INT
    -LINESEL-EXT
    LINESEL-MX-EXT
    -M1
    -M2
    -M3
    -M4
    -M5
    -M6

    -RDP2-y
    -RDP4-y
    -RDP6-y

    Npaq 6U


    Option Description
    Npaq 6U 6U rack-mount, high power, 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
    -ESTOP sense input
    -6 channels of 40 MHz quadrature encoder input (analog input optional)

    Power Input (Required)

    Option Description
    -A 115 VAC
    -B 230 VAC
    -C 100 VAC
    -D 208 VAC

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

    Option Description
    -0 Not wired
    -10B ±10 VDC (200 W power supply), bipolar
    -20B ±20 VDC (200 W power supply), bipolar
    -30B ±30 VDC (600 W power supply), bipolar
    -40B ±40 VDC (600 W power supply), bipolar
    -60B ±60 VDC (600 W power supply), bipolar
    -80B ±80 VDC (600 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

    Option Description
    -0 Not wired
    -10B ±10 VDC (200 W power supply), bipolar
    -20B ±20 VDC (200 W power supply), bipolar
    -30B ±30 VDC (600 W power supply), bipolar
    -40B ±40 VDC (600 W power supply), bipolar
    -60B ±60 VDC (600 W power supply), bipolar
    -80B ±80 VDC (600 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)

    Option Description
    -ULTRA 6 axis control board

    Npaq 6U Amplifiers (Required)

    Option Description
    -DP32010E6U Brushless motor driver, 320 V,  5 A cont., 10 A peak, 20 kHz PWM, 6U height, improved current feedback, requires A3200 software version 2.13 or greater
    -DP32020E6U Brushless motor driver, 320 V,  10 A cont., 20 A peak, 20 kHz PWM, 3U high drive (internal) with 6U front panel, improved current feedback, requires A3200 software version 2.13 or greater
    -DP32030E6U Brushless motor driver, 320 V,  15 A cont., 30 A peak, 20 kHz PWM, 3U high drive (internal) with 6U front panel, improved current feedback, requires A3200 software version 2.13 or greater
    -DL40106U Brushless motor driver, ±40 V, 5 A cont., 10 A peak, linear DC, 3U high drive (internal) with 6U front panel; actual continuous/peak current a function of motor resistance
    -DL4005A6U Brushless motor driver, ±40 V, 2.5 A cont., 5 A peak, linear DC with analog current loop, 3U high drive (internal) with  6U front panel; actual continuous/peak current a function of motor resistance
    -DL4010A6U Brushless motor driver, ±40 V, 5 A cont., 10 A peak, linear DC with analog current loop, 3U high drive (internal) with 6U front panel; actual continuous/peak current a function of motor resistance
    -DL8010 Brushless motor drive, ±80 V, 5 A cont., 10 A peak, linear DC with analog current loop, 6U height; actual continuous/peak current a function of motor resistance; requires A3200 software version 4.04 or greater
    -DL8020 Brushless motor drive, ±80 V, 10 A cont., 20 A peak, linear DC with analog current loop, 6U height; actual continuous/peak current a function of motor resistance; requires A3200 software version 4.04 or greater
    -BLANK6U 6U high filler panel

    Split Bus (Required)

    Option Description
    -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)

    Option Description
    -FAN TRAY TOP Fan tray mounted to top of Npaq 6U chassis; air flow directed down into the chassis
    -FAN TRAY BOTTOM Fan tray mounted to bottom of Npaq 6U chassis; air flow directed up into the chassis

    Linecord (Required)

    Option Description
    -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 US 115 VAC line cord
    -US-230VAC US 230 VAC line cord
    -NO-LINECORD No line cord

    Mounting Options (Required)

    Option Description
    -SLIDES Rack-mounted drawer slides

    Brake Options (Optional)

    Option Description
    -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)

    Option Description
    -AC LINE FILTER AC line filter for reducing conducted emissions; required for CE

    Options

    Option Description
    -JI 4-way industrial joystick sealed for harsh environments; includes 1.5 m (5 ft) cable and three dedicated function buttons
    -ENET 10/100 BASE-T Ethernet port
    -ESTOP1 Internal ESTOP; controller decels motors to stop then bus power is removed; meets EN ISO 13849-1 Category 2, performance Level d capable; actual risk assessment is responsibility of user
    -ESTOP2 Internal ESTOP; controller decels motors to stop then bus power is removed; meets EN ISO 13849-1 Category 3, performance Level d capable; actual risk assessment is responsibility of user
    -ESTOP3 Internal ESTOP; controller decels motors to stop then bus power is removed; lethal voltage removed from Npaq in <1 second; meets EN ISO 13849-1 Category 3, performance Level d capable; actual risk assessment is responsibility of user
    -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.
    -BC1 Additional bus capacitor for improved voltage sustain through variations in AC input

    PSO Options (Optional)

    Option Description
    -DUALPSO Dual axis PSO
    -TRIPLEPSO Triple axis PSO
    -PSO-NC Normally-closed PSO output (default normally open)

    Encoder Multiplier Options

    Option Description
    -MXR-1 4096x (16384 after quadrature) multiplier for 1 axis, 200 kHz input, 4096x real time output for PSO operation, 1 axis
    -MXR-2 4096x (16384 after quadrature) multiplier for 2 axes, 200 kHz input, 4096x real time output for PSO operation, 2 axes
    -MXR-3 4096x (16384 after quadrature) multiplier for 3 axes, 200 kHz input, 4096x real time output for PSO operation, 3 axes
    -MXR-4 4096x (16384 after quadrature) multiplier for 4 axes, 200 kHz input, 4096x real time output for PSO operation, 3 axes max
    -MXR-5 x4096x (16384 after quadrature) multiplier for 5 axes, 200 kHz input, 4096x real time output for PSO operation, 3 axes max
    -MXR-6 4096x (16384 after quadrature) multiplier for 6 axes, 200 kHz input, 4096x real time output for PSO operation, 3 axes max
    -MXR2M-1 4096x (16384 after quadrature) multiplier for 1 axis, 2 MHz input, 4096x real time output for PSO operation, 1 axis
    -MXR2M-2 4096x (16384 after quadrature) multiplier for 2 axes, 2 MHz input, 4096x real time output for PSO operation, 2 axes
    -MXR2M-3 4096x (16384 after quadrature) multiplier for 3 axes, 2 MHz input, 4096x real time output for PSO operation, 3 axes
    -MXR2M-4 4096x (16384 after quadrature) multiplier for 4 axes, 2 MHz input, 4096x real time output for PSO operation, 3 axes max
    -MXR2M-5 4096x (16384 after quadrature) multiplier for 5 axes, 2 MHz input, 4096x real time output for PSO operation, 3 axes max
    -MXR2M-6 4096x (16384 after quadrature) multiplier for 6 axes, 2 MHz input, 4096x real time output for PSO operation, 3 axes max

      Line Select Options

      Option Description
      -LINESEL-INT User selectable input voltages; internal switch access
      -LINESEL-MX-INT User selectable input voltages, for MXR option; internal switch access
      -LINESEL-EXT User selectable input voltages; external access to switches through holes in the Npaq cover
      -LINESEL-MX-EXT User selectable input voltages, for MXR option; external access to switches through holes in the Npaq cover

      Motor Output (Required)

      Option Description
      -M1 Npaq 1 axis motor output
      -M2 Npaq 2 axis motor output
      -M3 Npaq 3 axis motor output
      -M4 Npaq 4 axis motor output
      -M5 Npaq 5 axis motor output
      -M6 Npaq 6 axis motor output
          Note: Must be greater than or equal to the number of amplifiers in the system.

      Resolver (Optional)

      Option Description
      -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.