The Ensemble Epaq is Aerotech's
next-generation, stand-alone controller for applications from basic laboratory
experimentation and general purpose positioning to advanced OEM systems. The
Ensemble Epaq provides up to six axes of motion control in one integrated, stand-alone
package. The Epaq can daisy chain three extra drives so that the customer can
command up to nine axes of coordinated motion under program control. This flexible
configuration allows users to seamlessly mix and match drive types (linear versus
PWM, brush or brushless, stepper, etc.) within the same positioning system using
a common programming and control platform. Multiple Epaqs can be controlled
from one Windows PC through Ethernet or USB. Optional on-board encoder interpolation
offers the user programmable axis resolution, including the ability to change
interpolation (multiplication) values through software.
Powerful and Intuitive
Programming Functionality
Unlike most controllers on the market today, there is no need to understand
a cryptic command set to generate motion. The intuitive interface allows a user
to begin programming immediately. Ensemble online help further simplifies writing
motion programs and includes many functional examples that can be easily modified
for customer applications. The Ensemble HMI with Integrated Development Environment
(IDE) software offers a graphical user interface in Windows®, featuring
an intuitive Program Editor, Variable Output window, Compiler Output window,
and Task State monitor. This interface enables users to easily monitor all aspects
of their positioning system. The Axis Control, Diagnostic screens, and IO Control
interfaces are further supplemented by a fully functional Autotuning utility
that minimizes startup time and allows optimization of motion axes. System diagnostics
are read from the interface. The HMI Windows-based remote software package is
included with each unit, which allows the user to upload/download programs,
modify parameter files, and analyze motion with Aerotech's advanced graphical
tuning package, all from the convenience of a remote PC.
Advanced DSP Control
The Ensemble Epaq uses the processing power of a 225 MHz double precision, floating-point
DSP to offer exceptional performance in a variety of applications, including
point-to-point motion, linear and circular interpolation, multiaxis error correction,
2D error mapping, direct commutation of linear and rotary brushless servomotors,
and on-board servo autotuning. High-speed interrupts and data logging capabilities
provide a real-time link to external systems. The Ensemble Epaq also offers
high-speed position latching capability and optional single-axis PSO (Position
Synchronized Output).
Integral Drives
Brushless servo, DC brush servo, and microstepping drives are integrated into
the Ensemble Epaq's compact frame. The Epaq can control any combination of up
to six integral drives, while the Ensemble architecture is capable of further
expansion (with external stand-alone, single-axis drive units) to up to nine
total axes. Because the Epaq can control many different types of motors, users
have excellent flexibility in their system designs. Parameters are easily reconfigured
for these various motors and feedback devices, so customers can adapt to changing
system needs.
Expanded Input/Output Capability
Standard interfaces on each Ensemble Epaq include a joystick port, RS-232, Ethernet
port, and USB 2.0 port. Standard on each axis of the Ensemble Epaq I/O are one
16-bit ±10 VDC analog input, dedicated home marker input, over-travel
limits, Hall inputs for motor commutation, and Estop input.
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