Ndrive Series. Digital Servo Amplifiers. Wide output power range from 10 A peak to 150 A peak at 320 VDC. 2- or 3-phase AC line input or DC input

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1 Series Amplifiers/Drives Series Digital Servo Amplifiers Wide output power range from A peak to 150 A peak at 320 VDC 2- or 3-phase AC line input or DC input CE approval PWM and linear power stages HP HL Digital current, velocity, and position loops for improved motion stability Optional integrated encoder multiplier for higher throughput and reduced wiring Flexible design provides ability to drive brushless and DC brush-type servomotors as well as stepping motors Encoder or resolver feedback CP CL MP The family of digital servo amplifiers are the high performance discrete drive options for the Automation 3200 motion system. Capable of driving brushless and DC brushtype servomotors, and stepper motors, the amplifiers perform both current loop and servo loop closure to ensure the highest level of positioning performance and rate stability. The s are built using high performance DSPs, allowing them to perform complex calculations in real time. This processing capability allows s to sample the digital current loop and servo loop at a rate of 20. The amplifiers also handle both digital and analog I/O, laser firing, and encoder multiplication. In order to provide the capability for increased I/O counts for PLC-type applications, the HP and HL have an optional dedicated Ethernet port to communicate with I/O modules from third-party vendors. Standard options for the include on-board encoder multiplication, three-axis position synchronized output (PSO), brake relay, additional I/O, absolute encoder interface, and separate logic supply inputs for keep-alive operation. The HP, HL, CP, and CL accept AC input power while the MP accepts DC power input. The HL, a linear power amplifier, is available for low noise and ultra-high performance applications. This amplifier is ideal for high bandwidth requirements and maintains superb linearity with zero crossover distortion. Also included in the family is the CP, a high performance PWM amplifier for cost-sensitive applications, and the CL, which is a high performance linear amplifier for cost-sensitive applications. The CP and CL maintain the same level of sophisticated control architecture while eliminating support for optional features.

2 Series COMPARISON Amplifiers/Drives Series HP Width: 99 mm Height: mm HL Width: mm Height: mm CP Width: 63.5 mm Height: mm CL Width: 3.7 mm Height: mm MP Width: 41.1 mm Height: mm PC Interface Comparison Chart Current Output, Peak Current Output, Continuous Bus Voltage Amplifier Type Input Type Motor Style Base I/O Additional I/O (Additional to Base I/O) ESTOP Input Brake Input Capable 1) S ingle Axis PSO 1) D ual Axis PSO 1) T riple Axis PSO HP HL CP CL MP F irewire F irewire F irewire F irewire irewire F -150 A -20 A -30 A A A 5-75 A 5- A 5-15 A 5 A 5 A -320 V V -320 V 40 V -80 V PWM Linear PWM Linear PWM 2 or 3 Phase AC 2 Phase AC 2 Phase AC 2 Phase AC DC Brush, Brushless, Stepper 4-DO/6-DI 1-AO/1-AI 8-DO/8-DI 1-AO/1-AI ( Ye s ( Ye s ( Ye s Ethernet Capable for Third-Party I/O Auxiliary Keep Alive Notes: 1. PSO not available on CP/MP when using integral MXU Brush, Brushless, Stepper 4-DO/6-DI 1-AO/1-AI 8-DO/8-DI 1-AO/1-AI Brush, Brushless, Stepper 4-DO/6-DI 1-AO/1-AI 16-DO/16-DI 1-AO/1-AI No No No Brush, Brushless, Stepper 4-DO/6-DI 1-AO/1-AI 16-DO/16-DI 1-AO/1-AI No No No Brush, Brushless, Stepper 1-AI 8-DO/8-DI 1-AO/1-AI No No No The MP is the smallest amplifier in the family. With an overall package measuring under two inches wide and six inches in height, the MP is ideal for applications with ultra-compact space requirements. Any combination of amplifiers can be used together on the FireWire network to allow the system to be customized as needed.

3 HP Series SPECIFICATIONS Series Amplifiers/Drives HP 1) O utput Voltage Peak Output Current (1 sec) ( DC 3) C ontinuous Output Current Power Amplifier Bandwidth PWM Switching Frequency Minimum Load Inductance Operating Temperature Storage Temperature ( A k Units V (2) 1 A pk p Selectable Through Software 20 m H 160 VDC ( VDC) C 0 to 50 C -30 to 85 W eight k g (lb) 2.36 (5.2) 6.64 (14.6) (24.4) Maximum Shunt Regulator Dissipation Power Input Encoder Input Frequency Current Loop Update Rate Servo Loop Update Rate W 40 (Optional) VAC 200 Amplified Sine (For Onboard Multipliers), 40 MHz TTL Square Wave 20 1 to 20 Keep Alive/Auxiliary Power ( 5) Optional S upply B rake Output Optional P osition Synchronized Output Single Axis Standard, Two/Three Axis Optional D igital Inputs 6 Optically-Isolated (2 High Speed) D igital Outputs 4 Optically-Isolated A nalog Inputs One 16-bit Differential A nalog Outputs One 18-bit Single-Ended 6) A dditional I/O ( 8/8 Digital; 1/1 Analo g M XH Up to x2048 E thernet Optional Emergency Stop Sense Input ( 7) ( ESTOP) R esolver Interface ptional S hared Bus for Regen No (4) S ingle- or Three-Phase VAC, Hz Notes: 1. Output voltage dependent on input voltage VDC bus requires external transformer and auxiliary power option for logic power. 3. Peak value of the sine wave; rms current for AC motors is 0.707(A ). p k 4. Optional three-phase input available on HP models. 5. Auxiliary power option requires single phase VAC Hz. 6. Requires IO option. 7. Requires external relay to remove AC power. 8. One- or two-channel input. (8) O

4 HL SPECIFICATIONS HL 1) O utput Voltage ( DC 8) P eak Output Current (1 sec) 2,8) C ontinuous Output Current Power Amplifier Bandwidth Minimum Load Inductance Operating Temperature Storage Temperature Units V ± 40 ± 40 ±80 ( A pk 0 ( A k 1 20 p 5 5 Selectable Through Software mh 0 C 0 to 50 C -30 to 85 W eight k g (lb).36 (22.8) Maximum Shunt Regulator Dissipation W N/ A Power Input Encoder Input Frequency Current Loop Update Rate Servo Loop Update Rate VAC Single-Phase VAC, Hz 200 Amplified Sine (For Onboard Multipliers), 40 MHz TTL Square Wave 20 1 to 20 ( 4) K eep Alive/Logic Power Input Optional B rake Output Optional P osition Synchronized Output Single Axis Standard, Two/Three Axis Optional D igital Inputs 6 Optically-Isolated (2 High Speed) D igital Outputs 4 Optically-Isolated A nalog Inputs One 16-bit Differential A nalog Outputs One 18-bit Single-Ended 5) A dditional I/O ( 8/8 Digital; 1/1 Analo g M XH Up to x2048 E thernet Optional ( 6) E mergency Stop Sense Input (ESTOP) R esolver Interface ptional Notes: 1. Output voltage dependent upon input voltage. 2. Peak value of the sine wave; rms current for AC motors is 0.707(A ). p k VDC bus requires external transformer and auxiliary power option for logic power. 4. Auxiliary power option requires single phase VAC Hz. 5. Requires IO option. 6. Requires external relay to remove AC power. 7. One- or two-channel input. 8. Load dependent. (7) O Amplifiers/Drives Series

5 CP, CL, and MP SPECIFICATIONS Series Amplifiers/Drives 1) O utput Voltage CP, CL, and MP Peak Output Current (2 sec) ( DC 3) C ontinuous Output Current Power Amplifier Bandwidth PWM Switching Frequency Minimum Load Inductance Operating Temperature Storage Temperature ( A k Units CP CP20 CP30 V ( 2) ( 2) ( 2) V CL MP 4-80 A pk p Selectable Through Software 20 N/ A 20 m H 160 VDC ( VDC) 0 80 VDC C 0 to 50 C -30 to 85 W eight k g (lb) 1.64 (3.6) 3.54 (7.8) 0.45 (1.0) Maximum Shunt Regulator Dissipation Power Input Encoder Input Frequency Current Loop Update Rate Servo Loop Update Rate W 40 (Optional) N/ A VAC Single-Phase VAC, Hz K eep Alive/Logic Power Input ptional 56 VAC Motor Supply (center tapped transformer; two 28 VAC windings); VAC Logic Supply 400 Amplified Sine (For Onboard Multipliers), 40 MHz TTL Square Wave 20 8 to 20 4) O ( Ye s B rake Output Optional Position Synchronized ( 5,6) Single Axis Only O utput N/ A -80 VDC Motor Supply; VDC Logic Supply D igital Inputs 6 Optically-Isolated (2 High Speed) N/ A D igital Outputs 4 Optically-Isolated N/ A A nalog Inputs One 12-bit Differential A nalog Outputs One 16-bit Single-Ended 7) A dditional I/O ( 16/16 Digital; 1/1 Analo g One 16-bit One 12-bit Differential N/ A 8/8 Digital; 1/1 Analog M XU Up to x24 Up to x4096 Up to x24 E thernet N/ A Emergency Stop Sense Input ( 8) ( ESTOP) R esolver Interface N/ A Notes: 1. Output voltage dependent upon input voltage VDC bus requires external transformer and auxiliary power option for logic power. 3. Peak value of the sine wave; rms current for AC motors is 0.707(A ). p k 4. CP auxiliary power option requires single phase VAC Hz. 5. Not available with MXU option. 6. Requires IO board with MP. 7. Requires IO option. 8. Requires external relay to remove AC power.

6 HP/20/30 COMPONENTS HP/20/30 with Optional I/O Keep Alive/Auxiliary Power Supply (TB1) 1-3 Phase VAC 50/60 Hz IEEE-1394 FireWire (J201, J202, J203) Resolver Interface (opt)(j401, J402) PSO/Absolute Encoder Interface (J301) Ethernet (J204) Amplifiers/Drives Series 3 Phase -340VDC Motor Output -0A pk 2 Channels SSINet for Buffered RS- 422 (Multiplied) Encoder IN/OUT (J302, J303) LED Status Indicators Auxiliary I/O (J205) Two 18-Bit Analog Outputs and Brake Relay (TB301) RS-232 (J206) Two 16-Bit Analog Inputs (TB302) User Power (TB303) Emergency Stop Sense Input (TB201) Motor Feedback Connector (J207) 8 Opto-Isolated Outputs, Common Sink or Common Source (User Defined) (TB304) 8 Opto-Isolated Inputs, Common Sink or Common Source (User Defined) (TB305)

7 HP/20/30 DIMENSIONS Series Amplifiers/Drives HP/20/30 with Optional I/O

8 HP50/75/0 COMPONENTS HP50/75/0 with Optional I/O 1-3 Phase VAC 50/60 Hz 3 Phase VDC Motor Output 50-0A pk Ethernet (J204) Resolver Interface (Opt) (J401, J402) IEEE-1394 FireWire J201, J202, J203 PSO/Absolute Encoder Interface (J301) 2 Channels SSINet for Buffered RS-422 (Multiplied) Encoder IN/OUT (J302, J303) LED Status Indicators Two 18-Bit Analog Outputs and Brake Relay (TB301) Two 16-Bit Analog Inputs (TB302) Amplifiers/Drives Series Keep Alive/Auxiliary Power Supply External Shunt Power LED User Power (TB303) 8 Opto-Isolated Outputs, Common Sink or Common Source (User-Defined) (TB304) 8 Opto-Isolated Inputs, Common Sink or Common Source (User-Defined) (TB305) Auxiliary I/O (J205) RS-232 (J206) Motor Feedback Connector (J207) Emergency Stop Sense Input (TB201)

9 HP50/75/0 DIMENSIONS Series Amplifiers/Drives HP50/75/0 with Optional I/O

10 HL COMPONENTS HL with Optional I/O Motor Output (TB1) Ethernet (J204) IEEE-1394 FireWire (J201, J202, J203) PSO/Absolute Encoder Interface (J301) Resolver Interface (Opt) (J401, J402) Main Supply AC1, AC2, Ground 2 Channels SSINet for buffered RS-422 (multiplied) encoder IN/OUT (J302, J303) Amplifiers/Drives Series LED Status Indicators Keep Alive/Auxiliary Power Supply Auxiliary I/O (J205) Two 18-Bit Analog Outputs/ Brake Relay (TB301) RS-232 (J206) Emergency Stop Sense Input (TB201) Two 16-Bit Analog Inputs (TB302) User Power (TB303) Power/Enabled LED 8 Opto-Isolated Outputs Common Sink or Common Source (User-Defined) (TB304) Motor Feedback Connector (J207) 8 Opto-Isolated Inputs Common Sink or Common Source (User-Defined) (TB305)

11 HL DIMENSIONS Series Amplifiers/Drives HL with Optional I/O

12 HL DIMENSIONS HL with Optional I/O and Resolver Amplifiers/Drives Series

13 CP COMPONENTS Series Amplifiers/Drives CP with Optional I/O LED Status Indicators IEEE 1394 FireWire (J1, J2) Two 16-Bit Analog Inputs, One Analog Output (TB201) Eight Opto-Isolated Outputs Common Sink or Common Source (User Defined) (TB202) Motor Feedback Connector (J3) Eight Opto-Isolated Outputs Common Sink or Common Source (User Defined) (TB203) Emergency Stop Sense Input (TB1) Auxiliary I/O (J4) VAC Single-Phase Input Motor Output -340 VDC -30A pk Eight Opto-Isolated Inputs Common Sink or Common Source (User Defined) (TB204) Eight Opto-Isolated Inputs Common Sink or Common Source (User Defined) (TB205) Brake Relay (TB206) Keep Alive/Auxiliary Power Supply (Bottom)

14 CP DIMENSIONS CP with Optional I/O Amplifiers/Drives Series

15 CL COMPONENTS Series Amplifiers/Drives CL with Optional I/O IEEE 1394 FireWire (J1, J2) LED Status Indicators Motor Feedback Connector (J4) Keep Alive/Auxiliary Power Supply (Top) Two 16-Bit Analog Inputs, One Analog Output (TB201) Eight Opto-Isolated Outputs Common Sink or Common Source (User Defined) (TB202) Eight Opto-Isolated Outputs Common Sink or Common Source (User Defined) (TB203) Emergency Stop Sense Input (TB1) Auxiliary I/O (J5) Two-Phase Input, 28 VAC (56 VAC with Center Tap) Motor Output ±40 VDC A Output Eight Opto-Isolated Inputs Common Sink or Common Source (User Defined) (TB204) Eight Opto-Isolated Inputs Common Sink or Common Source (User Defined) (TB205) Brake Relay (TB206)

16 CL DIMENSIONS CL with Optional I/O Amplifiers/Drives Series

17 MP COMPONENTS Series Amplifiers/Drives MP with Optional I/O IEEE 1394 FireWire (J1, J2) Emergency Stop Sense Input (TB1, Top) Second Encoder Interface (J201) LED Status Indicators Brake Relay (TB201) One 12-Bit Analog Input and One 16-Bit Analog Output (TB202) Motor Feedback Connector (J3) (Plus One 12-Bit Analog Input) Eight Opto-Isolated Inputs Common Sink or Common Source (User Defined) (TB203) - 80 VDC Bus Voltage Input Motor Output - 80 VDC, A pk Eight Opto-Isolated Outputs Common Sink or Common Source (User Defined) (TB204) VDC, 2A Max Logic Power Input (TB3, Bottom)

18 MP DIMENSIONS MP with Optional I/O Amplifiers/Drives Series

19 Series ORDERING INFORMATION Series Amplifiers/Drives Ordering Example HP 20 -ENET RDP1-K Base HP HL CP Output Current X X -80-X CL MP Control Option -IO -IOH -DUALPSO -TRIPLEPSO -PSOPTO2 -PSOPTO3 -PSOPTO4 -MXH -ENET -IO -IOH -DUALPSO -TRIPLEPSO -PSOPTO2 -PSOPTO3 -PSOPTO4 -MXH -ENET -IO -MXU -IO -MXU -IO -MXU Resolver Options RDP1-K RDP1-7.5K RDP1-5K RDP2-K RDP2-7.5K RDP2-5K RDP1-K RDP1-7.5K RDP1-5K RDP2-K RDP2-7.5K RDP2-5K -AUXPWR Power Stage Option -S -EXTSHUNT -AUXPWR -HS -3P -FAN-115 -FAN-230 -AUXPWR -S NDRIVE HP (PWM) NDRIVE HP NDRIVE HP20 NDRIVE HP30-S NDRIVE HP50-S NDRIVE HP75-S NDRIVE HP0-S NDRIVE HP150-S A peak, 5 A continuous, 115/240 VAC input, PWM digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking only); six opto-isolated digital inputs (sinking or sourcing); one 18-bit analog output; one 16-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input 20 A peak, A continuous, 115/240 VAC input, PWM digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking only); six opto-isolated digital inputs (sinking or sourcing); one 18-bit analog output; one 16-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input 30 A peak, 15 A continuous, 115/240 VAC, input digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking only); six opto-isolated digital inputs (sinking or sourcing); one 18-bit analog output; one 16-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input; 0 watt internal shunt resistor 50 A peak, 25 A continuous, 115/240 VAC input, digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking only); six opto-isolated digital inputs (sinking or sourcing); one 18-bit analog output; one 16-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input; 400 watt internal shunt resistor 75 A peak, 37 A continuous, 115/240 VAC input, digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking only); six opto-isolated digital inputs (sinking or sourcing ); one 18-bit analog output; one 16-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input; 400 watt internal shunt resistor 0 A peak, 50 A continuous, 115/240 VAC input, digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking only); six opto-isolated digital inputs (sinking or sourcing); one 18-bit analog output; one 16-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input; 400 watt internal shunt resistor 150 A peak, 75 A continuous, 115/240 VAC input, digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking only); six opto-isolated digital inputs (sinking or sourcing); one 18-bit analog output; one 16-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input; 400 watt internal shunt resistor

20 Series ORDERING INFORMATION NDRIVE HL (Linear) NDRIVE HL-40-x NDRIVE HL20-40-x NDRIVE HL-80-x A peak, 5 A continuous, ±40 VDC bus linear digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking only); six opto-isolated digital inputs (sinking or sourcing); one 18-bit analog output; one 16-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input 20 A peak, A continuous, ±40 VDC bus linear digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking only); six opto-isolated digital inputs (sinking or sourcing); one 18-bit analog output; one 16-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input A peak, 5 A continuous, ±80 VDC bus linear digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking only); six opto-isolated digital inputs (sinking or sourcing); one 18-bit analog output; one 16-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input Amplifiers/Drives Series NDRIVE HL Line Voltage (-x) Options -A 115 VAC input -B 230 VAC input -C 0 VAC input -D 200/208 VAC input NDRIVE HP/HL Control Options -IO Expansion board with 8 opto-isolated inputs (sinking or sourcing) and 8 outputs (sinking or sourcing ); two 18-bit analog outputs; two 16-bit differential analog inputs; SSINET; absolute encoder interface and brake relay; includes HCPL2601 opto-isolator -IOH High power expansion board with 8 opto-isolated inputs (sinking or sourcing) and 8 outputs (sinking or sourcing ) rated at 1 A per channel; two 18-bit analog outputs; two 16-bit differential analog inputs; SSINET; absolute encoder interface and brake relay; includes HCPL2601 opto-isolator -DUALPSO Two-axis PSO firing; second encoder input through AUX connection on NDRIVE or through SSINET on IO board; includes HCPL2601 opto-isolator -TRIPLEPSO Three-axis PSO firing; requires IO option to provide connections for three axes of encoder feedback; includes HCPL2601 opto-isolator -PSOPTO2 Opto-isolator for PSO; requires IO/IOH option (<+15 V, high speed, low current, 6N136) -PSOPTO3 Opto-isolator for PSO; requires IO/IOH option (<+30 V, low speed, high current, 4N33) -PSOPTO4 Opto-isolator for PSO; requires IO/IOH option (TIL117-M, 40, 5-25 VDC, 50 ma) -MXH Programmable encoder multiplier up to x2048; supports single/dual-axis PSO and real-time encoder quadrature output -ENET /0 BASE-T Ethernet port NDRIVE HP/HL Resolver Options RDP1-K 1-channel resolver to digital feedback card with dynamic resolution switching capability; carrier frequency RDP1-7.5K 1-channel resolver to digital feedback card with dynamic resolution switching capability; 7.5 carrier frequency RDP1-5K 1-channel resolver to digital feedback card with dynamic resolution switching capability; 5 carrier frequency RDP2-K 2-channel resolver to digital feedback card with dynamic resolution switching capability; carrier frequency RDP2-7.5K 2-channel resolver to digital feedback card with dynamic resolution switching capability; 7.5 carrier frequency RDP2-5K 2-channel resolver to digital feedback card with dynamic resolution switching capability; 5 carrier frequency

21 Series ORDERING INFORMATION Series Amplifiers/Drives NDRIVE HP/HL Power Stage Options -S 0 W internal shunt resistor network Note: Not valid with HL -EXTSHUNT 2-pin connector for external shunt. External shunt not provided Note: Only valid with HP50/75/0 -HS Heat sink with fins Note: Not valid with HL; standard on HP50/75/0-3P 3-phase AC input, standard on HP50/75/0 Note: Not valid with HL -FAN VAC external cooling fan Note: Only valid with HP50/75; included on HP0 -FAN VAC external cooling fan Note: Only valid with HP50/75; included on HP0 NDRIVE CP (PWM) NDRIVE CP NDRIVE CP20 NDRIVE CP30-S A peak, 5 A continuous, 115/240 VAC, input PWM digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking or sourcing); six opto-isolated digital inputs (sinking or sourcing); one 16-bit analog output; one 12-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input 20 A peak, A continuous, 115/240 VAC, input PWM digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking or sourcing); six opto-isolated digital inputs (sinking or sourcing); one 16-bit analog outputs; one 12-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input 30 A peak, 15 A continuous, 115/240 VAC input, PWM digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking or sourcing); six opto-isolated digital inputs (sinking or sourcing); two 16-bit analog outputs; one 12-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input; 40 W internal shunt resistor NDRIVE CP Control Options -IO Expansion board with 16 opto-isolated inputs (sinking or sourcing); 16 outputs (sinking or sourcing ); one 12-bit analog input; one 16-bit analog output and brake relay -MXU Programmable encoder multiplier up to x24; no real-time output NDRIVE CP Power Stage Options -S 0 W internal shunt resistor network NDRIVE CL (Linear) NDRIVE CL-40 A peak, 5 A continuous, ±40 VDC input linear digital drive with FireWire interface; supports brush and brushless motors; includes: four opto-isolated digital outputs (sinking or sourcing); six opto-isolated digital inputs (sinking or sourcing); one 16-bit analog output; one 12-bit differential analog input; single-axis PSO capability; two quadrature encoder input channels; ESTOP sense input NDRIVE CL Control Options -IO Expansion board with 16 opto-isolated inputs (sinking or sourcing); 16 outputs (sinking or sourcing); one 12-bit analog input; one 16-bit analog output and brake relay -MXU Programmable encoder multiplier up to x24; no real-time output NDRIVE MP (PWM) NDRIVE MP A peak, 5 A continuous, -80 VDC input, PWM digital drive with FireWire interface; supports brush and brushless motors; includes: single-axis PSO capability (requires I/O board); 1 quadrature encoder input channel; ESTOP sense input; VDC logic power input NDRIVE MP Control Options -IO Expansion board with 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; PSO output -MXU Programmable encoder multiplier up to x24; no real-time output