Design Features

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 SupplyVACSingle-Phase 100-240 VAC; 50/60 Hz (Factory Configured)
Bus VoltageVDC10-320
Peak Output Current 
(1 sec)(1)		Apk10, 20, 30
Continuous Output Current(1)Apk5, 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 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)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 TypeBrushless, DC Brush, Stepper
Output TypePWMPWMPWMLinearLinearLinear
Output Voltage (VDC)10-32010-32010-32010-40 (Bipolar)10-80 (Bipolar)10-80 (Bipolar)
Continuous Current510105(1)510
Peak Current10203010(1)1020
Minimum Load(2)0.1 mH0.1 mH0.1 mH0 ohms0 ohms0 ohms
ProtectionShort Circuit Protection; Overload Protection; Low Level Power Supply Detection and Fuse
Switching Frequency20 kHz20 kHz20 kHzN/AN/AN/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.

Dimensions

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

BasePower 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 FilterOptionsPSO 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


OptionDescription
Npaq 6U6U 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)

OptionDescription
-A115 VAC
-B230 VAC
-C100 VAC
-D208 VAC

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

OptionDescription
-0Not 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
-160LT160 VDC (does not include transformer), unipolar, used with DP320XX
-320LT320 VDC (does not include transformer), unipolar, used with DP320XX

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

OptionDescription
-0Not 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
-160LT160 VDC (does not include transformer), unipolar, used with DP320XX
-320LT320 VDC (does not include transformer), unipolar, used with DP320XX

Controller Options (Required)

OptionDescription
-ULTRA6 axis control board

Npaq 6U Amplifiers (Required)

OptionDescription
-DP32010E6UBrushless 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
-DP32020E6UBrushless 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
-DP32030E6UBrushless 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
-DL40106UBrushless 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
-DL4005A6UBrushless 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
-DL4010A6UBrushless 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
-DL8010Brushless 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
-DL8020Brushless 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
-BLANK6U6U high filler panel

Split Bus (Required)

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

Cooling Options (Required)

OptionDescription
-FAN TRAY TOPFan tray mounted to top of Npaq 6U chassis; air flow directed down into the chassis
-FAN TRAY BOTTOMFan tray mounted to bottom of Npaq 6U chassis; air flow directed up into the chassis

Linecord (Required)

OptionDescription
-ENGLANDU.K. compatible line cord
-GERMANYGerman compatible line cord
-ISRAELIsrael compatible line cord
-INDIAIndia compatible line cord
-AUSTRALIAAustralia compatible line cord
-US-115VACUS 115 VAC line cord
-US-230VACUS 230 VAC line cord
-NO-LINECORDNo line cord

Mounting Options (Required)

OptionDescription
-SLIDESRack-mounted drawer slides

Brake Options (Optional)

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

Line Filter (Optional)

OptionDescription
-AC LINE FILTERAC line filter for reducing conducted emissions; required for CE

Options

OptionDescription
-JI4-way industrial joystick sealed for harsh environments; includes 1.5 m (5 ft) cable and three dedicated function buttons
-ENET10/100 BASE-T Ethernet port
-ESTOP1Internal 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
-ESTOP2Internal 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
-ESTOP3Internal 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
-S160-1Shunt for Vbus1; 160 VDC operation
-S160-2Shunt for Vbus2; 160 VDC operation
Note: Both shunts permitted for 160 VDC option.
-S320-1Shunt for Vbus1; 320 VDC operation
-S320-2Shunt for Vbus2; 320 VDC operation
Note: Only one shunt permitted for 320 VDC option.
-AIOAnalog 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.
-BC1Additional bus capacitor for improved voltage sustain through variations in AC input

PSO Options (Optional)

OptionDescription
-DUALPSODual axis PSO
-TRIPLEPSOTriple axis PSO
-PSO-NCNormally-closed PSO output (default normally open)

Encoder Multiplier Options

OptionDescription
-MXR-14096x (16384 after quadrature) multiplier for 1 axis, 200 kHz input, 4096x real time output for PSO operation, 1 axis
-MXR-24096x (16384 after quadrature) multiplier for 2 axes, 200 kHz input, 4096x real time output for PSO operation, 2 axes
-MXR-34096x (16384 after quadrature) multiplier for 3 axes, 200 kHz input, 4096x real time output for PSO operation, 3 axes
-MXR-44096x (16384 after quadrature) multiplier for 4 axes, 200 kHz input, 4096x real time output for PSO operation, 3 axes max
-MXR-5x4096x (16384 after quadrature) multiplier for 5 axes, 200 kHz input, 4096x real time output for PSO operation, 3 axes max
-MXR-64096x (16384 after quadrature) multiplier for 6 axes, 200 kHz input, 4096x real time output for PSO operation, 3 axes max
-MXR2M-14096x (16384 after quadrature) multiplier for 1 axis, 2 MHz input, 4096x real time output for PSO operation, 1 axis
-MXR2M-24096x (16384 after quadrature) multiplier for 2 axes, 2 MHz input, 4096x real time output for PSO operation, 2 axes
-MXR2M-34096x (16384 after quadrature) multiplier for 3 axes, 2 MHz input, 4096x real time output for PSO operation, 3 axes
-MXR2M-44096x (16384 after quadrature) multiplier for 4 axes, 2 MHz input, 4096x real time output for PSO operation, 3 axes max
-MXR2M-54096x (16384 after quadrature) multiplier for 5 axes, 2 MHz input, 4096x real time output for PSO operation, 3 axes max
-MXR2M-64096x (16384 after quadrature) multiplier for 6 axes, 2 MHz input, 4096x real time output for PSO operation, 3 axes max

    Line Select Options

    OptionDescription
    -LINESEL-INTUser selectable input voltages; internal switch access
    -LINESEL-MX-INTUser selectable input voltages, for MXR option; internal switch access
    -LINESEL-EXTUser selectable input voltages; external access to switches through holes in the Npaq cover
    -LINESEL-MX-EXTUser selectable input voltages, for MXR option; external access to switches through holes in the Npaq cover

    Motor Output (Required)

    OptionDescription
    -M1Npaq 1 axis motor output
    -M2Npaq 2 axis motor output
    -M3Npaq 3 axis motor output
    -M4Npaq 4 axis motor output
    -M5Npaq 5 axis motor output
    -M6Npaq 6 axis motor output

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

    Resolver (Optional)

    OptionDescription
    -RDP2-y1-2 axis RD converter board; must be on axis 1-2
    -RDP4-y1-4 axis RD converter board; must be on axis 1-4
    -RDP6-y1-6 axis RD converter board

    1. Note: Where y is the carrier frequency. Options are 5, 7.5 or 10 kHz.

    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.