Npaq MR Drive Rack

Description

Design Features

  • 3U, 19-inch rack-mount design with integral drives
  • Flexible design provides the ability to drive brush, brushless, or stepper motors with the same amplifier
  • 5 A continuous, 10 amp 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
  • CE approved and NRTL safety certification; follows the 2011/65/EU RoHS 2 Directive

The Npaq® MR is a cost-effective, high performance, 4- or 8- axis drive rack. All versions are 3U in size, rack-mountable, and compatible with the Automation 3200 motion platform.

Featuring high-performance double-precision DSPs, the Npaq 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/O processing, data collection, laser firing, and encoder multiplication tasks in real time.

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 both linear 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 synchronized output (PSO) for precise synchronizing of external devices, and supports per axis I/O options with up to 64 opto-isolated inputs and outputs available to the user.

Specifications

Npaq MR Specifications

FeaturesUnitsDescription
Number of Axes   1 to 8
Encoder Inputs   1 Primary and 1 Auxiliary Per Axis
Motor Style   Brush, Brushless, Stepper
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) Apk 5
Digital Inputs   Optional(2)
Digital Outputs   Optional(2)
Analog Inputs   One 12-bit Differential Per Axis
Analog Outputs   Optional(2)
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   sin, cos, mkr for Aux Enc; mkr can be used for PSO Output
I/O Expansion Board(2)   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
BiDirectional Lines   No
Automatic Brake Control   Optional
Emergency Stop (ESTOP)   Optional
Position Synchronized Output (PSO)   Single Axis Standard
Can Output Multiplied Encoder   Only With MXH Option
Can Output Square Wave Encoder   Yes
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
Laser Feedback Support   No
Encoder Multiplication(3)   x4096 (MXU); x65536 (MXH)
Resolver Interface   No
Internal Shunt Resistor   No
External Shunt   No
Ethernet   No
USB   No
RS-232   No
FireWire   Yes
Fieldbus   Modbus TCP on PC
Joystick   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) 16 (35)
Package   Amplifiers Installed at Factory
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.

    Integrated Amplifier Electrical Specifications

     UnitsMPML
    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
    1. Actual current ratings dependent on motor resistance.

    Dimensions

    • 4-Axis Chassis
    • 8-Axis Chassis

    Ordering Information

    Ordering Example

    Npaq MR /4AXIS-BOX -A -4-40LP /1-MP10I /2-MP10 /3-MP10

    /4-MP10 /5-MP10 /6-MP10 /7-MP10 /8-MP10 /US-115VAC /Brake-2 -/JOY-1

    Ordering Options

    Base PackageLine VoltageBus Power SupplyAxis 1 AmpAxis 2 AmpAxis 3 Amp
    Npaq MR /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-MP10HB
    /1-MP10IHB
    /1-MP10MHB
    /1-MP10MIHB
    /1-ML10
    /1-ML10I
    /1-ML10M
    /1-ML10MI
    /1-ML10H
    /1-ML10HI
    /2-MP10
    /2-MP10I
    /2-MP10M
    /2-MP10MI
    /2-MP10HB
    /2-MP10IHB
    /2-MP10MHB
    /2-MP10MIHB
    /2-ML10
    /2-ML10I
    /2-ML10M
    /2-ML10MI
    /2-ML10H
    /2-ML10HI
    /3-MP10
    /3-MP10I
    /3-MP10M
    /3-MP10MI
    /3-MP10HB
    /3-MP10IHB
    /3-MP10MHB
    /3-MP10MIHB
    /3-ML10
    /3-ML10I
    /3-ML10M
    /3-ML10MI
    /3-ML10H
    /3-ML10HI
    Axis 4 AmpAxis 5 AmpAxis 6 AmpAxis 7 AmpAxis 8 AmpLine CordBrake 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

    Option Description
    Npaq MR Rack-mount digital amplifier chassis with integral DC power supply and FireWire® interface. Supports 4 or 8 axes of brush, brushless, or stepper motor amplifiers.
    • Dedicated I/O per axis includes: CW, CCW, and home limits, sin, cos, mkr, Hall effect sensors, motor over-temperature, 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

    Option Description
    /4AXIS-BOX Supports up to 4 axes of motion
    /8AXIS-BOX Supports up to 8 axes of motion

    Line Voltage

    Option Description
    -A 115 VAC line
    -B 230 VAC line
    -C 100 VAC line
    -D 200 VAC line

    Bus Power Supply

    Option Description
    -4-40LP Four-axis rack with 40 VDC bus; up to 300 watts
    -4-80LP Four-axis rack with 80 VDC bus; up to 300 watts
    -4-40 Four-axis rack with 40 VDC bus; up to 600 watts
    -4-80 Four-axis rack with 80 VDC bus; up to 600 watts
    -4-10B Four-axis rack with ±10 VDC bus; up to 400 watts
    -4-20B Four-axis rack with ±20 VDC bus; up to 400 watts
    -4-30B Four-axis rack with ±30 VDC bus; up to 400 watts
    -4-40B Four-axis rack with ±40 VDC bus; up to 800 watts
    -8-40LP Eight-axis rack with 40 VDC bus; up to 500 watts
    -8-80LP Eight-axis rack with 80 VDC bus; up to 500 watts
    -8-40 Eight-axis rack with 40 VDC bus; up to 500 watts
    -8-80 Eight-axis rack with 80 VDC bus; up to 1000 watts
    -8-10B Eight-axis rack with ±10 VDC bus; up to 400 watts
    -8-20B Eight-axis rack with ±20 VDC bus; up to 400 watts
    -8-30B Eight-axis rack with ±30 VDC bus; up to 400 watts
    -8-40B Eight-axis rack with ±40 VDC bus; up to 600 watts

    Axis 1 Amplifier Options

    Option Description
    /1-MP10 Digital PWM amplifier, 10 A peak, 5 A continuous
    /1-MP10I Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
    /1-MP10M Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /1-MP10MI Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
    /1-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /1-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /1-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU (1) and half bus option
    /1-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    /1-ML10 Linear amplifier, 10 A peak, 5 A continuous
    /1-ML10I Linear amplifier, 10 A peak, 5 A continuous with I/O option
    /1-ML10M Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU (1)
    /1-ML10MI Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
    /1-ML10H Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)
    /1-ML10HI Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 2 Amplifier Options

    Option Description
    /2-MP10 Digital PWM amplifier, 10 A peak, 5 A continuous
    /2-MP10I Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
    /2-MP10M Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /2-MP10MI Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
    /2-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /2-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /2-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /2-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    /2-ML10 Linear amplifier, 10 A peak, 5 A continuous
    /2-ML10I Linear amplifier, 10 A peak, 5 A continuous with I/O option
    /2-ML10M Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /2-ML10MI Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
    /2-ML10H Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)
    /2-ML10HI Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 3 Amplifier Options

    Option Description
    /3-MP10 Digital PWM amplifier, 10 A peak, 5 A continuous
    /3-MP10I Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
    /3-MP10M Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /3-MP10MI Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
    /3-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /3-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /3-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /3-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    /3-ML10 Linear amplifier, 10 A peak, 5 A continuous
    /3-ML10I Linear amplifier, 10 A peak, 5 A continuous with I/O option
    /3-ML10M Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /3-ML10MI Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
    /3-ML10H Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)
    /3-ML10HI Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 4 Amplifier Options

    Option Description
    /4-MP10 Digital PWM amplifier, 10 A peak, 5 A continuous
    /4-MP10I Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
    /4-MP10M Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /4-MP10MI Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
    /4-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /4-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /4-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /4-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    /4-ML10 Linear amplifier, 10 A peak, 5 A continuous
    /4-ML10I Linear amplifier, 10 A peak, 5 A continuous with I/O option
    /4-ML10M Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /4-ML10MI Linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
    /4-ML10H Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)
    /4-ML10HI Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 5 Amplifier Options

    Option Description
    /5-MP10 Digital PWM amplifier, 10 A peak, 5 A continuous
    /5-MP10I Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
    /5-MP10M Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /5-MP10MI Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
    /5-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /5-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /5-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /5-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 6 Amplifier Options

    Option Description
    /6-MP10 Digital PWM amplifier, 10 A peak, 5 A continuous
    /6-MP10I Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
    /6-MP10M Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /6-MP10MI Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
    /6-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /6-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /6-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /6-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 7 Amplifier Options

    Option Description
    /7-MP10 Digital PWM amplifier, 10 A peak, 5 A continuous
    /7-MP10I Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
    /7-MP10M Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /7-MP10MI Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
    /7-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /7-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /7-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /7-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 8 Amplifier Options

    Option Description
    /8-MP10 Digital PWM amplifier, 10 A peak, 5 A continuous
    /8-MP10I Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
    /8-MP10M Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /8-MP10MI Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
    /8-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /8-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /8-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /8-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Line Cord (must select one)

    Option Description
    /ENGLAND UK compatible line cord
    /GERMANY German compatible line cord
    /ISRAEL Israel 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

    Brake Options (up to 4 selections allowable)

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

    Options (multiple selectons allowable)

    Option Description
    -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
    -SLIDE Rack-mount slides