Design Features

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 SupplyVACSingle-Phase 100-240 VAC; 50/60 Hz (Factory Configured)
Bus VoltageVDC10-80
Peak Output Current (1 sec)(1)Apk10
Continuous Output Current(1)Apk5
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 RatekHz20
Servo Loop Update RatekHz8
Power Amplifier BandwidthkHzSelectable Through Software
Minimum Load InductancemH0.1 mH with PWM; 0 with Linear
Operating Temperature°C0 to 50
Storage Temperature°C-30 to 85
Weightkg (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 VoltageVDC10, 20, 30, 40, 8010, 20, 30, 40
Peak Output CurrentA1010(1)
Continuous Output CurrentA55(1)
PWM Switching FrequencykHz20N/A
Power Amplifier BandwidthkHzSoftware SelectableSoftware Selectable
Minimum Load InductancemH0.10
Operating Temperature°C0 to 500 to 50
Storage Temperature°C-20 to 85-20 to 85
Weightkg0.50.5

  1. Actual current ratings dependent on motor resistance.

Dimensions

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

BasePackageLine 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

OptionDescription
Npaq MRRack-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

OptionDescription
/4AXIS-BOXSupports up to 4 axes of motion
/8AXIS-BOXSupports up to 8 axes of motion

Line Voltage

OptionDescription
-A115 VAC line
-B230 VAC line
-C100 VAC line
-D200 VAC line

Bus Power Supply

OptionDescription
-4-40LPFour-axis rack with 40 VDC bus; up to 300 watts
-4-80LPFour-axis rack with 80 VDC bus; up to 300 watts
-4-40Four-axis rack with 40 VDC bus; up to 600 watts
-4-80Four-axis rack with 80 VDC bus; up to 600 watts
-4-10BFour-axis rack with ±10 VDC bus; up to 400 watts
-4-20BFour-axis rack with ±20 VDC bus; up to 400 watts
-4-30BFour-axis rack with ±30 VDC bus; up to 400 watts
-4-40BFour-axis rack with ±40 VDC bus; up to 800 watts
-8-40LPEight-axis rack with 40 VDC bus; up to 500 watts
-8-80LPEight-axis rack with 80 VDC bus; up to 500 watts
-8-40Eight-axis rack with 40 VDC bus; up to 500 watts
-8-80Eight-axis rack with 80 VDC bus; up to 1000 watts
-8-10BEight-axis rack with ±10 VDC bus; up to 400 watts
-8-20BEight-axis rack with ±20 VDC bus; up to 400 watts
-8-30BEight-axis rack with ±30 VDC bus; up to 400 watts
-8-40BEight-axis rack with ±40 VDC bus; up to 600 watts

Axis 1 Amplifier Options

OptionDescription
/1-MP10Digital PWM amplifier, 10 A peak, 5 A continuous
/1-MP10IDigital PWM amplifier, 10 A peak, 5 A continuous with I/O option
/1-MP10MDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
/1-MP10MIDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
/1-MP10-HBDigital PWM amplifier, 10 A peak, 5 A continuous with half bus option
/1-MP10I-HBDigital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
/1-MP10M-HBDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU (1) and half bus option
/1-MP10MI-HBDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
/1-ML10Linear amplifier, 10 A peak, 5 A continuous
/1-ML10ILinear amplifier, 10 A peak, 5 A continuous with I/O option
/1-ML10MLinear amplifier, 10 A peak, 5 A continuous; x4096 MXU (1)
/1-ML10MILinear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
/1-ML10HDigital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)
/1-ML10HIDigital 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

OptionDescription
/2-MP10Digital PWM amplifier, 10 A peak, 5 A continuous
/2-MP10IDigital PWM amplifier, 10 A peak, 5 A continuous with I/O option
/2-MP10MDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
/2-MP10MIDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
/2-MP10-HBDigital PWM amplifier, 10 A peak, 5 A continuous with half bus option
/2-MP10I-HBDigital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
/2-MP10M-HBDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
/2-MP10MI-HBDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
/2-ML10Linear amplifier, 10 A peak, 5 A continuous
/2-ML10ILinear amplifier, 10 A peak, 5 A continuous with I/O option
/2-ML10MLinear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
/2-ML10MILinear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
/2-ML10HDigital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)
/2-ML10HIDigital 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

OptionDescription
/3-MP10Digital PWM amplifier, 10 A peak, 5 A continuous
/3-MP10IDigital PWM amplifier, 10 A peak, 5 A continuous with I/O option
/3-MP10MDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
/3-MP10MIDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
/3-MP10-HBDigital PWM amplifier, 10 A peak, 5 A continuous with half bus option
/3-MP10I-HBDigital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
/3-MP10M-HBDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
/3-MP10MI-HBDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
/3-ML10Linear amplifier, 10 A peak, 5 A continuous
/3-ML10ILinear amplifier, 10 A peak, 5 A continuous with I/O option
/3-ML10MLinear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
/3-ML10MILinear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
/3-ML10HDigital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)
/3-ML10HIDigital 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

OptionDescription
/4-MP10Digital PWM amplifier, 10 A peak, 5 A continuous
/4-MP10IDigital PWM amplifier, 10 A peak, 5 A continuous with I/O option
/4-MP10MDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
/4-MP10MIDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
/4-MP10-HBDigital PWM amplifier, 10 A peak, 5 A continuous with half bus option
/4-MP10I-HBDigital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
/4-MP10M-HBDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
/4-MP10MI-HBDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
/4-ML10Linear amplifier, 10 A peak, 5 A continuous
/4-ML10ILinear amplifier, 10 A peak, 5 A continuous with I/O option
/4-ML10MLinear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
/4-ML10MILinear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
/4-ML10HDigital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)
/4-ML10HIDigital 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

OptionDescription
/5-MP10Digital PWM amplifier, 10 A peak, 5 A continuous
/5-MP10IDigital PWM amplifier, 10 A peak, 5 A continuous with I/O option
/5-MP10MDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
/5-MP10MIDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
/5-MP10-HBDigital PWM amplifier, 10 A peak, 5 A continuous with half bus option
/5-MP10I-HBDigital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
/5-MP10M-HBDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
/5-MP10MI-HBDigital 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

OptionDescription
/6-MP10Digital PWM amplifier, 10 A peak, 5 A continuous
/6-MP10IDigital PWM amplifier, 10 A peak, 5 A continuous with I/O option
/6-MP10MDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
/6-MP10MIDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
/6-MP10-HBDigital PWM amplifier, 10 A peak, 5 A continuous with half bus option
/6-MP10I-HBDigital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
/6-MP10M-HBDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
/6-MP10MI-HBDigital 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

OptionDescription
/7-MP10Digital PWM amplifier, 10 A peak, 5 A continuous
/7-MP10IDigital PWM amplifier, 10 A peak, 5 A continuous with I/O option
/7-MP10MDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
/7-MP10MIDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
/7-MP10-HBDigital PWM amplifier, 10 A peak, 5 A continuous with half bus option
/7-MP10I-HBDigital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
/7-MP10M-HBDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
/7-MP10MI-HBDigital 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

OptionDescription
/8-MP10Digital PWM amplifier, 10 A peak, 5 A continuous
/8-MP10IDigital PWM amplifier, 10 A peak, 5 A continuous with I/O option
/8-MP10MDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
/8-MP10MIDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and I/O option
/8-MP10-HBDigital PWM amplifier, 10 A peak, 5 A continuous with half bus option
/8-MP10I-HBDigital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
/8-MP10M-HBDigital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
/8-MP10MI-HBDigital 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)

OptionDescription
/ENGLANDUK compatible line cord
/GERMANYGerman compatible line cord
/ISRAELIsrael compatible line cord
/AUSTRALIAAustralia compatible line cord
/US-115VACUS 115 VAC line cord
/US-230VACUS 230 VAC line cord
/NO-LINECORDNo line cord

Brake Options (up to 4 selections allowable)

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

Options (multiple selectons allowable)

OptionDescription
-ESTOP1Controller 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.
-ESTOP2Same as ESTOP1 but uses two relays
-ESTOP3Same as ESTOP2 but contains 1 second bus discharge resistors
-SLIDERack-mount slides

Integration (Required)

Aerotech offers both standard and custom integration services to help you get your system fully operational as quickly as possible. The following standard integration options are available for this system. Please consult Aerotech if you are unsure what level of integration is required, or if you desire custom integration support with your system.

OptionDescription
-TASIntegration - Test as system
Testing, integration, and documentation of a group of components as a complete system that will be used together (ex: drive, controller, and stage). This includes parameter file generation, system tuning, and documentation of the system configuration.
-TACIntegration - Test as components
Testing and integration of individual items as discrete components that ship together. This is typically used for spare parts, replacement parts, or items that will not be used together. These components may or may not be part of a larger system.