Aerotech Npaq DL 4010 Series User manual

Revision: 3.08.00
Npaq Hardware Manual

Global Technical Support
Go to www.aerotech.com/global-technical-support for information and support about your Aerotech, Inc. products. The
website supplies software, product manuals, Help files, training schedules, and PC-to-PC remote technical support. If
necessary, you can complete Product Return (RMA) forms and get information about repairs and spare or replacement parts.
To get help immediately, contact a service office or your sales representative. Include your customer order number in your
email or have it available before you call.
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Pittsburgh, PA 15238-2811
www.aerotech.com
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This manual contains proprietary information and may not be reproduced, disclosed, or used in whole or in part without the
express written permission of Aerotech, Inc. Product names mentioned herein are used for identification purposes only and
may be trademarks of their respective companies.
Copyright © 2003-2020, Aerotech, Inc., All rights reserved.

Table of Contents Npaq® Hardware Manual
Table of Contents
Npaq Hardware Manual 1
Table of Contents 3
List of Figures 5
List of Tables 7
EU Declaration of Conformity 9
Agency Approvals 10
Safety Procedures and Warnings 11
Quick Installation Guide 13
Chapter 1: Introduction 15
1.1. Electrical Specifications 21
1.1.1. System Power Requirements 23
1.2. Mechanical Specifications 24
1.3. Environmental Specifications 26
1.4. Drive and Software Compatibility 27
Chapter 2: Installation and Configuration 29
2.1. Unpacking the Chassis 29
2.2. Electrical Installation 30
2.2.1. ACPower Connections 32
2.2.2. Minimizing Conducted, Radiated, and System Noise 33
2.2.3. I/O and Signal Wiring Requirements 33
2.3. Communication Channel Settings 34
2.4. Soft Start / Voltage Selection Overview 36
2.4.1. Soft-Start Operation 36
2.4.2. Voltage Selection Operation 38
2.5. Motor Output Connectors 39
2.5.1. Brushless Motor Connections 40
2.5.1.1. Powered Motor Phasing 41
2.5.1.2. Unpowered Motor and Feedback Phasing 42
2.5.2. DC Brush Motor Connections 43
2.5.2.1. DC Brush Motor Phasing 43
2.5.3. Stepper Motor Connections 44
2.5.3.1. Stepper Motor Phasing 44
2.6. Motor Feedback Connectors 45
2.6.1. Encoder Interface (J1-J6) 46
2.6.1.1. RS-422 Line Driver Encoder (Standard) 47
2.6.1.2. MXR Option (Analog Encoder Interface) 48
2.6.1.3. Encoder Phasing 50
2.6.2. Hall-Effect Interface 52
2.6.3. Thermistor Interface 53
2.6.4. End Of Travel Limit Input Interface 54
2.6.4.1. End Of Travel Limit Phasing 56
2.6.5. Encoder Fault Interface 57
2.6.6. Brake Output 58
2.7. Position Synchronized Output (PSO) Connector 59
2.7.1. PSO Opto Output (J7) 60
2.7.2. PSO Differential Outputs (J7) 61
2.7.3. PSO Interlock (J7) 62
2.7.4. PSO SYNC IO (J7) 63
2.8. High-Speed I/O Connector (J8) 64
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Npaq® Hardware Manual Table of Contents
2.8.1. High-Speed Differential Outputs (J8) 65
2.8.2. High-Speed Differential Inputs (J8) 67
2.8.3. High-Speed Bidirectional I/O (J8) 69
2.9. Digital Opto-Isolated I/O Connector (J9) 70
2.9.1. Digital Outputs (J9) 71
2.9.2. Digital Inputs (J9) 73
2.10. Analog I/O Connector (J10) 75
2.10.1. Analog Outputs (J10) 76
2.10.2. Analog Inputs (J10) 77
2.11. Joystick Connector (J11) 78
2.12. Miscellaneous I/OConnector (J12) 81
2.12.1. User Interrupt Input (UINT) (J12) 82
2.12.2. Emergency Stop Sense Input (J12) 83
2.12.3. Brake Option (J12) 84
2.12.3.1. Solid State Relay Specifications 86
2.13. FireWire Interface 87
2.14. Ethernet Interface 88
2.15. PC Configuration and Operation Information 89
Chapter 3: Options 91
3.1. External / Fan Tray Cooling Options 92
3.2. AC Line Filter Option 93
3.3. Emergency Stop Options (ESTOP1,2,3) 94
3.4. Shunt Option 98
3.5. Analog I/O Board Option [Archive] 99
3.5.1. Power Configuration for the -AIO Option [Archive] 100
3.5.2. Analog Inputs on the -AIO Option Board (AIN4-AIN6) [Archive] 101
3.5.3. Analog Outputs on the -AIO Option Board (AOUT4-AOUT9) [Archive] 102
3.6. Resolver Option [Archive] 103
Chapter 4: Maintenance 105
4.1. Control Board 107
4.2. Drive Interface Board Assembly 109
4.3. Rear Panel Interface Board Assembly 111
4.4. MXR Board Assembly 113
4.5. Soft-Start Board Assembly 114
4.6. Analog I/O Board Assembly [Archive] 115
4.7. RDP Board Assembly [Archive] 116
4.8. Fuse Replacement 117
4.9. Preventative Maintenance 118
Appendix A: Warranty and Field Service 119
Appendix B: Revision History 121
Appendix C: Avertissements 123
Index 129
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Table of Contents Npaq® Hardware Manual
List of Figures
Figure 1-1: Npaq Drive Chassis 15
Figure 1-2: Functional Diagram 20
Figure 1-3: Dimensions 25
Figure 2-1: Power and Control Connections 30
Figure 2-2: Power Switch 30
Figure 2-3: Power Supply Connection 32
Figure 2-4: Device Number (S2)Location 34
Figure 2-5: Soft-Start / Voltage Board 36
Figure 2-6: Motor Output Connections 39
Figure 2-7: Brushless Motor Configuration 40
Figure 2-8: Encoder and Hall Signal Diagnostics 41
Figure 2-9: Motor Phasing Oscilloscope Example 42
Figure 2-10: Brushless Motor Phasing Goal 42
Figure 2-11: DC Brush Motor Configuration 43
Figure 2-12: Clockwise Motor Rotation 43
Figure 2-13: Stepper Motor Configuration 44
Figure 2-14: Clockwise Motor Rotation 44
Figure 2-15: Line Driver Encoder Interface 47
Figure 2-16: Analog Encoder Phasing Reference Diagram (-MXR option) 48
Figure 2-17: MXR Analog Encoder Interface 49
Figure 2-18: Encoder Phasing Reference Diagram (Standard) 50
Figure 2-19: Position Feedback in the DiagnosticDisplay 51
Figure 2-20: Hall-Effect Inputs 52
Figure 2-21: Thermistor Interface Input 53
Figure 2-22: End of Travel Limit Input Connections 54
Figure 2-23: End of Travel Limit Interface Input 55
Figure 2-24: Limit Input Diagnostic Display 56
Figure 2-25: Encoder Fault Interface Input 57
Figure 2-26: PSO Output Sources Current 60
Figure 2-27: PSOOutput Sinks Current 60
Figure 2-28: PSO Output 1 and 2 Differential Outputs 61
Figure 2-29: PSO Opto-Isolated Output and PSO Open Collector Outputs 61
Figure 2-30: PSO Interlock Opto Input and Reset Output 62
Figure 2-31: SYNCOUT (1-6) Outputs 63
Figure 2-32: SYNCIN (1-6) Outputs 63
Figure 2-33: High Speed Differential Outputs 66
Figure 2-34: High-Speed Differential Inputs 68
Figure 2-35: High-Speed Bidirectional I/O 69
Figure 2-36: Digital Outputs Connected in Current Sinking Mode 72
Figure 2-37: Digital Outputs Connected in Current Sourcing Mode 72
Figure 2-38: Digital Inputs Connected in Current Sinking Mode 74
Figure 2-39: Digital Inputs Connected in Current Sourcing Mode 74
Figure 2-40: Analog Outputs (J10) 76
Figure 2-41: Analog Inputs (J10) 77
Figure 2-42: Joystick Inputs (J11) 79
Figure 2-43: Joystick Interface 80
Figure 2-44: User Interrupt Inputs (J12) 82
Figure 2-45: Emergency Stop Sense Input Connections (J12) 83
Figure 2-46: Brake OptionConnections (Internal) (J12) 84
Figure 2-47: Ethernet Connection 88
Figure 3-1: ESTOP Option Interface 95
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Npaq® Hardware Manual Table of Contents
Figure 3-2: ESTOP1 Option (Category 2, PL d) 95
Figure 3-3: ESTOP2 Option (Category 3, PL d) 96
Figure 3-4: ESTOP3 Option (Category 3, PL d) 97
Figure 3-5: Shunt Board Assembly 98
Figure 3-6: Analog I/O Option Board Inputs 101
Figure 3-7: Analog I/O Option Board Outputs 102
Figure 3-8: Sine/Cosine Resolver Signal Input Circuitry 104
Figure 3-9: Reference Resolver Signal Output Circuitry 104
Figure 4-1: Control Board Assembly 107
Figure 4-2: Drive Interface Board Assembly 109
Figure 4-3: Rear Panel Interface Board Assembly 111
Figure 4-4: MXR Board Assembly 113
Figure 4-5: Soft-Start/Voltage Select Board 114
Figure 4-6: Analog I/O Board Assembly 115
Figure 4-7: RDP Board Assembly 116
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Table of Contents Npaq® Hardware Manual
List of Tables
Table 1-1: FeatureSummary 16
Table 1-2: Configurations and Options 17
Table 1-3: Chassis Electrical Specifications 21
Table 1-4: Servo Amplifier Electrical Specifications 22
Table 1-5: Drive and Software Compatibility 27
Table 2-1: Main ACPower Input Voltages and Current Requirements 32
Table 2-2: Device Number Switch Settings (S2) 35
Table 2-3: AC Input Power Connector (J1) Pin Assignment 36
Table 2-4: +24 VDC Power Connector (J2) Pin Assignment 37
Table 2-5: Transformer Interface Connectors (J3, J5) Pin Assignment 37
Table 2-6: Fan Interface Connector (J4) Pin Assignment 37
Table 2-7: AC Input Power Connector (J1/MXR Board) Pin Assignment 37
Table 2-8: AC Input Power Connector (J1) Pin Assignment 38
Table 2-9: Motor Power Output Connector Pinout 39
Table 2-10: Mating Connector Part Numbers for the Motor Power Output Connector 39
Table 2-11: Motor Feedback Connector Pinout 45
Table 2-12: Mating Connector Part Numbers for the Motor Feedback Connector 45
Table 2-13: Encoder Interface Pins on the Motor Feedback Connector 46
Table 2-14: Encoder Specifications 47
Table 2-15: Analog Encoder Specifications 48
Table 2-16: Hall-Effect Feedback Pins on the Motor Feedback Connector 52
Table 2-17: Thermistor Pin on the Motor Feedback Connector 53
Table 2-18: End of Travel Limit Input Pins on the Motor Feedback Connector 54
Table 2-19: Encoder Fault Pin on the Motor Feedback Connector 57
Table 2-20: Brake Output Pins on the Motor Feedback Connector 58
Table 2-21: PSO Interface Connector Pinout (J7) 59
Table 2-22: Mating Connector Part Numbers for the PSOConnector 59
Table 2-23: PSO Output Polarity Settings for JP16 60
Table 2-24: Output Specifications 60
Table 2-25: PSO Interlock Specifications 62
Table 2-26: Reset Specifications 62
Table 2-27: SYNCOUT Specifications 63
Table 2-28: SYNCIN Specifications 63
Table 2-29: High-Speed I/O Connector Pinout (J8) 64
Table 2-30: Mating Connector Part Numbers for the High-Speed I/O Connector 64
Table 2-31: High-Speed Differential Output Pins on the High-Speed I/O Connector (J8) 65
Table 2-32: High-Speed Differential Input Pins on the High-Speed I/OConnector (J8) 67
Table 2-33: Digital Opto-Isolated I/O Connector Pinout (J9) 70
Table 2-34: Mating Connector Part Numbers for the Digital Opto-Isolated I/O Connector 70
Table 2-35: Digital Output Specifications (Outputs 0-7) 71
Table 2-36: Digital Output Pins on the Digital Opto-Isolated Output Connector (J9) 71
Table 2-37: Digital Input Specifications 73
Table 2-38: Digital Input Pins on the Digital Opto-Isolated I/OConnector (J9) 73
Table 2-39: Analog I/O Connector Pinout (J10) 75
Table 2-40: Mating Connector Part Numbers for the Analog I/OConnector (J10) 75
Table 2-41: Analog Output Specifications (J10) 76
Table 2-42: Analog Output Pins on the Analog I/OConnector (J10) 76
Table 2-43: Differential Analog Input 1 Specifications (J10) 77
Table 2-44: Analog Input Pins on the Analog I/OConnector (J10) 77
Table 2-45: Joystick Connector Pinout 78
Table 2-46: Mating Connector Part Numbers for the Joystick Connector 78
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Npaq® Hardware Manual Table of Contents
Table 2-47: Miscellaneous I/O Connector Pinout (J12) 81
Table 2-48: Mating Connector Part Numbers for the Miscellaneous I/O Connector (J12) 81
Table 2-49: UINTPins on the Miscellaneous I/OConnector (J12) 82
Table 2-50: UINT Opto-Isolator Specifications (J12) 82
Table 2-51: ESTOP Pins on the Miscellaneous I/OConnector (J12) 83
Table 2-52: ESTOP Opto-Isolator Specifications (J12) 83
Table 2-53: Brake Option Connector / Pin Assignment Descriptions 85
Table 2-54: Drive Interface Board Fuse (F1) Information 85
Table 2-55: Relay Specifications 86
Table 2-56: FireWire Card Part Numbers 87
Table 2-57: FireWire Repeaters (for cables exceeding 4.5 m (15 ft) specification) 87
Table 2-58: FireWire Cables (copper and glass fiber) 87
Table 2-59: Ethernet Cable Listing 88
Table 3-1: Options and Capabilities 91
Table 3-2: AC Line Filter Part Number 93
Table 3-3: ESTOPSafety Ratings 94
Table 3-4: Relay Specifications 94
Table 3-5: Shunt Regulator Options 98
Table 3-6: Analog I/O Board Connector Pinout (J80) 99
Table 3-7: Mating Connector Part Numbers for the Analog I/O Connector (J80) 99
Table 3-8: External Power Supply Specifications 100
Table 3-9: Differential Analog Input 1 Specifications 101
Table 3-10: Analog Output Specifications 102
Table 3-11: Resolver Connector Pinout 103
Table 3-12: Mating Connector Part Numbers for the Resolver Connector 103
Table 4-1: LEDIndicators 105
Table 4-2: Troubleshooting 106
Table 4-3: Control Board Jumper Configuration 107
Table 4-4: Control Board Test Points 108
Table 4-5: JTAG Programming Connector (Internal-J11) 108
Table 4-6: Drive Interface Board Fuse Information 109
Table 4-7: Drive Interface Jumper Settings 110
Table 4-8: Rear Panel Interface Board Jumper Information 112
Table 4-9: Rear Panel Interface Board Test Points 112
Table 4-10: MXR Board Jumper Selections 113
Table 4-11: MXR Board Test Points (where “x” represents the channel number) 113
Table 4-12: Soft-Start Fuse Replacement Part Numbers 114
Table 4-13: Analog I/O Option Board Jumper Settings 115
Table 4-14: RDP Board Test Points (where “x” represents the channel number) 116
Table 4-15: Typical Fuse Replacement Part Numbers 117
Table 4-16: Preventative Maintenance 118
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Declaration of Conformity Npaq® Hardware Manual
EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product Npaq
Model/Types All
This is to certify that the aforementioned product is in accordance with the applicable requirements of the
following Directive(s):
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive
2006/42/EC Machinery Directive
EU 2015/863 RoHS3 Directive
and has been designed to be in conformity with the applicable requirements of the following Standard(s)
when installed and used in accordance with the manufacturer’s supplied installation instructions.
EN 61326-1:1998 EMC Requirements for Electrical Equipment
EN 61010-1:2010 Safety Requirements for Electrical Equipment
ISO 13849-1:2008 Safety Related Parts of Control Systems
Authorized Representative: Simon Smith, European Director
Address: Aerotech Ltd
The Old Brick Kiln, Ramsdell, Tadley
Hampshire RG26 5PR
UK
Name
/ Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
Date 2/17/2020
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Npaq® Hardware Manual Declaration of Conformity
Agency Approvals
Aerotech, Inc. Model Npaq Drive Racks have been tested and found to be in accordance to the following
listed Agency Approvals:
Approval / Certification: CUS NRTL
Approving Agency: TUV SUD America Inc.
Certificate #: U8 14 12 68995 016
Standards: CAN/CSA-C22.2 No. 61010-1:2012; UL 61010-1:2012
Visit https://www.tuev-sued.de/product-testing/certificates to view Aerotech's TÜV SÜD certificates. Type
the certificate number listed above in the search bar or type "Aerotech" for a list of all Aerotech certificates.
10 www.aerotech.com

Electrical Safety Npaq® Hardware Manual
Safety Procedures and Warnings
This manual tells you how to carefully and correctly use and operate the Npaq. Read all parts of this manual
before you install or operate the Npaq or before you do maintenance to your system. To prevent injury to you
and damage to the equipment, obey the precautions in this manual. The precautions that follow apply when
you see a Danger or Warning symbol in this manual. If you do not obey these precautions, injury to you or
damage to the equipment can occur. If you do not understand the information in this manual, contact
Aerotech Global Technical Support.
This product has been designed for light industrial manufacturing or laboratory environments. The protection
provided by the equipment could be impaired if the product is used in a manner not specified by the
manufacturer.
N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any
time. All drawings and illustrations are for reference only and were complete and accurate as of this
manual’s release. Refer to www.aerotech.com for the most up-to-date information.
D A N G E R : This product contains potentially lethal voltages. To reduce the possibility of
electrical shock, bodily injury, or death the following precautions must be followed.
1. Ensure that all electrical power switches are in the off position when servicing the
equipment.
2. Disconnect electrical power before servicing equipment.
3. Disconnect electrical power before performing any wiring.
4. Access to the Npaq and component parts must be restricted while connected to a power
source.
5. Residual voltages greater than 60V may be present inside Npaq chassis for longer than 10
seconds after power has been disconnected.
6. To minimize the possibility of electrical shock and bodily injury, extreme care must be
exercised when any electrical circuits are in use. Suitable precautions and protection must
be provided to warn and prevent persons from making contact with live circuits.
7. Install the Npaq inside a rack or enclosure.
8. Do not connect or disconnect any electrical components or connecting cables while
connected to a power source.
9. All components must be properly grounded in accordance with local electrical safety
requirements.
10. Operator safeguarding requirements must be addressed during final integration of the
product.
D A N G E R / H E A V Y : To avoid injury, use two or more people to move and install this
product.
lRefer to Section 1.2. for chassis mass specifications.
lUse a cart to move the product.
lDo not use the handles on the front of the product to lift or move this product. Use the
handles only to slide the product in and out of its enclosure.
lLift this product only by the base. Do not use the cables or the connectors to lift or move
this product.
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Npaq® Hardware Manual Electrical Safety
W A R N I N G : To minimize the possibility of electrical shock, bodily injury or death the
following precautions must be followed.
1. If the product is used in a manner not specified by the manufacturer, the protection
provided by the product can be impaired and result in damage, shock, injury, or death.
2. Moving parts can cause crushing or shearing injuries. Access to all stage and motor parts
must be restricted while connected to a power source.
3. Cables can pose a tripping hazard. Securely mount and position all system cables to avoid
potential hazards.
4. Do not expose this product to environments or conditions outside of the listed
specifications. Exceeding environmental or operating specifications can cause damage to
the equipment.
5. Operators must be trained before operating this equipment.
6. All service and maintenance must be performed by qualified personnel.
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Quick Installation Guide Npaq® Hardware Manual
Quick Installation Guide
This chapter describes the order in which connections and settings should typically be made to the Npaq. If
a custom interconnection drawing was created for your system (look for a line item on your Sales Order
under the heading “Integration”), that drawing can be found on your installation device.
There are five standard connections that must be made to the Npaq.
Topic Section
ACPower Section 2.2.1. ACPower Connections
Device Number Section 2.3. Communication Channel Settings
PCCommunication Section 2.13. FireWire Interface
Motor Power Section 2.5. Motor Output Connectors
Motor Feedback Section 2.6. Motor Feedback Connectors
Figure 1: Quick Start Connections
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Npaq® Hardware Manual Quick Installation Guide
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Introduction Npaq® Hardware Manual
Chapter 1: Introduction
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.
l3U plug-in drives
l19 inch rack-mount design
lFlexible design provides the ability to drive brush,
brushless, or stepper motors with the same
amplifier
l5 A to 30 A peak output current
lPWM or linear amplifier
lIntegral power supplies
lIEEE-1394 FireWire interface
lDigital current, velocity, and position loops for
improved motion stability
lOptional Ethernet for I/O expansion
lIntegrated encoder multiplier for higher
throughput and reduced wiring
lEncoder feedback
lNRTLapproval and CEcompliant
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.
Figure 1-1: Npaq Drive Chassis
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
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Npaq® Hardware Manual Introduction
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.
Table 1-1: FeatureSummary
Standard Features
l6 channels of line driver square wave or optional analog sine wave quadrature encoder position and/or
velocity feedback
lTwo independent bus supplies (factory configured)
lLinear and/or PWM Amplifiers
lSoftware configurable for brush, brushless, ceramic and stepper motor operation (the Npaq must be
factory wired for a 4010 amplifier to drive a stepper motor)
lSingle axis PSO (Laser Firing) standard (2- and 3-axis firing optional)
Auxiliary Power
Outputs
+5V provided on all axis feedback connectors for encoder, Hall, and limit power.
-IO lFour 16-bit differential analog inputs (2 used for the optional Joystick)
lTwo 16-bit analog outputs
lEight opto-isolated digital inputs
lEight opto-isolated digital outputs
lSix High Speed Differential outputs
lFour High Speed Differential inputs
lThree High Speed Bi-directional lines
lESTOP sense Input
lTwo Opto-Isolated User Interrupt Inputs
lBrake Output (Optional)
Feedback / Limit
Inputs
lHall Inputs (3 per axis)
lEncoder / Marker Inputs
lCW, CCW & Home Limit Inputs
lMotor Over-Temperature Input
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Introduction Npaq® Hardware Manual
Table 1-2: Configurations and Options
Power Input Configurations
-A 115 VAC
-B 230 VAC
-C 100 VAC
-D 200 VAC
Bus Voltage (Vbus1 and Vbus2) Configurations
-0 Not wired
-10B ±10 VDC (100 W Power Supply), bipolar
-20B ±20 VDC (175 W Power Supply), bipolar
-30B ±30 VDC (175 W Power Supply), bipolar
-40B ±40 VDC (175 W Power Supply), bipolar
-80B ±80 VDC (325 W Power Supply), bipolar
-160LT 160 VDC (offline, no transformer), unipolar, (DP320XX)
-320LT 320 VDC (offline, no transformer), unipolar, (DP320XX)
Controller Options (Required)
-ULTRA 6 axis control board
Amplifier Options
/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 Options
/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
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Npaq® Hardware Manual Introduction
Cooling Options
/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
Mounting Options
/STANDARD Rack Mount
/SLIDES Rack-mounted drawer slides
Brake Options
/BRAKE-z Brake control logic and power supply; 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 Cord Options
/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
Options
/ENET 10/100BASE-T Ethernet port
/ESTOP1 Internal, disconnect AC to motor power supply. For category 2 applications. Risk
assessment is responsibility of user.
/ESTOP2 Internal, disconnect AC to motor power supply. For category 3 applications. Risk
assessment is responsibility of user.
/ESTOP3 Internal, disconnect AC to motor power supply. Lethal voltage removed in less 1
second. For category 3 applications. Risk assessment is responsibility of user.
/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 160VDC 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.
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Introduction Npaq® Hardware Manual
Line Filter Option
/AC LINEFILTER AC line filter for reducing conducted emissions(required for CE).
PSOOptions (Optional)
/DUALPSO Dual axis PSO, includes HCPL2601 opto-isolator
/TRIPLEPSO Triple axis PSO, includes HCPL2601 opto-isolator
/PSO-NC JP16 is installed in position 2-3 to provide normally-closed operation
Encoder Multiplier Options
/MXR-x x65,536 multiplier for x (1-6) axes, 450 kHz input, real-time output for PSO
operation (programmable resolution)
/MXR2M-x x65,536 multiplier for x (1-6) axes, 2 MHz input, real time output for PSO
operation
1. Effective multiplication factor after quadrature decoding (if applicable)
2. /MXR-4, /MXR-5, /MXR6:3 axes max
3. /MXR2M-4, /MXR2M-5, /MXR2M-6:3 axes max
Motor Output
/Mx Motor output wiring installed for x (1-6)axes
Accessories (Optional)
/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
Archived Options (for legacy users)
/AIO Adds four 16-bit analog inputs and six 16-bit analog outputs.
NOTE: High speed digital I/O not available with this option.
/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 frequency (options are 5, 7.5, or 10 KHz)
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Npaq® Hardware Manual Introduction
The following block diagram illustrates the features and options of the Npaq.
Figure 1-2: Functional Diagram
20 Chapter 1 www.aerotech.com