Description

Design Features

• Up to eight integrated drives in one stand-alone controller
• Additional external drive axes can be added to provide up to ten axes of coordinated motion
• Controller architecture capable of coordinating motion of up to five independent tasks
• Capable of driving and controlling linear or rotary brushless, DC brush servo, and microstepping motors
• Complete motion capabilities include: point-to-point, linear and circular interpolation, electronic gearing, velocity profiling
• Program in AeroBasic with the IDE, Microsoft .NET including C#, VB.NET, C++/CLI, LabVIEW, and MATLAB
• Remote ASCII interface provided for Windows or non-Windows programs (including Linux) to command the Epaq through standard Ethernet or RS-232 port
• Advanced Windows-based remote diagnostics, tuning, and programming interface software
• Axis jogging/control with optional joystick
• CE approved and NRTL safety certification; follows the 2011/65/EU RoHS 2 Directive
• Fully compatible with EPICS set of software tools and applications, making Ensemble ideal for use in synchrotron and general laboratory facilities
• Allen-Bradley EtherNet/IP interface provides full integration with the Ensemble; program the Ensemble directly from RSLogix 5000

The Ensemble^® Epaq MR is Aerotech's next-generation, stand-alone controller for moderate- to high-performance applications. It offers functionality appropriate for applications from basic laboratory experimentation and general purpose positioning to advanced OEM systems at an affordable price.

Versatile, Stand-Alone, Multi-Axis Control

The Ensemble Epaq MR is offered in a 4- or 8-axis 3U rackmount version. Each version contains integrated power supplies and pluggable motor and IO connectors. PWM amplifiers are offered to control brush, brushless, and stepper motors. Linear amplifiers are also available for high performance, low noise applications. Higher power external amplifiers may be daisy-chained to the Epaq MR using the high-speed AeroNet serial interface for a total of ten axes of coordinated motion.

This flexible configuration style 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 Epaq MRs can be controlled from one Windows^® PC through Ethernet. Optional on-board encoder interpolation offers the user programmable axis resolution (assuming a sine-wave encoder input signal), 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 with Integrated Development Environment 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, no matter how complex. The Axis Control and Diagnostic screens are further supplemented by a fully functional Autotuning utility that minimizes startup time and allows easy optimization of motion axes. System diagnostics are easily read from the interface. The 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.

Whether operated in stand-alone mode or by remote control through Ethernet, the full functionality of the Ensemble Epaq MR is available. On-board configuration and monitoring utilities simplify remote communications. The Epaq MR also has an RS-232 port for general purpose use.

Advanced DSP Control

The Ensemble Epaq MR uses the processing power of multiple double precision, floating-point DSPs to offer exceptional performance in a variety of applications, including point-to-point motion, linear and circular interpolation, single- and multi-axis error correction, 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 MR also offers high-speed position latching capability and optional single-axis PSO (Position Synchronized Output). Whether the requirement is simple point-to-point motion or complex velocity profiled contours with output on the fly, Ensemble ensures peak performance for critical applications.

Integral Drives

Brushless servo, DC brush servo, and microstepping drives are integrated into the Ensemble Epaq MR compact frame. The Epaq MR can control any combination of up to eight integral drives, while the Ensemble architecture is capable of further expansion (with external stand-alone, single-axis drive units) to up to ten total axes. Because the Epaq MR can control many different types of motors, customers have excellent flexibility in their system designs. High accuracy linear motor air-bearings can be controlled from the same controller running lower precision drives with servo or stepper motors. Parameters are easily reconfigured for these various motors and feedback devices, so customers can adapt to changing system needs.

Expanded Input/Output Capability

On a per axis basis the Epaq MR also features an optional I/O package offering eight digital inputs and outputs, one 12-bit ±10 VDC analog input, one 16-bit ±5 VDC output, a configurable brake output, a second TTL encoder input for dual loop control, and either a second marker input or PSO output. This optional I/O package can be added to each axis so numerous I/O can be connected to the Epaq MR.

Enhancing a Legacy of Success

Although Ensemble is envisioned as a general-purpose, stand-alone controller, it carries forward a legacy of success built from Aerotech's hugely successful A3200 and Soloist™ controllers. It offers enhanced capabilities that make it an ideal choice for many aggressive motion control applications. The Ensemble motion control architecture builds upon the Soloist intuitive graphical user interface, while offering advanced features appropriate for multi-axis control. Pre-coded LabVIEW^® VIs, AeroBasic™ programming functionality, MATLAB^® library, .NET tools for C#, VB.NET and C++/CLI or C make the Ensemble even easier to use. See the Ensemble Control home page for detailed information on software capabilities and ordering options.

Allen-Bradley Interface

Combine proven PLC with proven motion control for easier integration, startup, and maintenance of medium- and high-end automation projects. The Aerotech EtherNet/IP™ interface enables AB PLCs (MicroLogix, CompactLogix™, or ControlLogix) to be integrated directly with the Ensemble. Motion can be directly programmed in the RSLogix 5000 environment or separate programs can be written on the controller and triggered from the AB PLC. Aerotech has two interfaces: ASCII and Register. Choose the PLC, motion controller, and interface that best fits your application needs.

EPICS Drivers

Each Ensemble installation includes full compatibility with the EPICS open source distributed control system. EPICS is used worldwide at leading light source (synchrotron) facilities and other government laboratories, allowing Ensemble to seamlessly integrate into applications at all major research institutions.

Specifications

Ensemble Epaq MR Specifications

1. Peak value of the sine wave; rms current for AC motors is 0.707 * A_pk.
2. Requires I/O option.
3. Effective multiplication factor after quadrature decoding (if applicable).

1. Actual current ratings dependent on motor resistance.

Dimensions

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Ordering Information

Ordering Example

Ordering Options

Ordering Example (continued)

Ordering Options (continued)

Ensemble Epaq MR Software

License

Controller Options

System Options

Motion Composer (MC) Options

Maintenance

Epaq MR Ordering Information

Epaq MR

Package

Line Voltage

Bus Power Supply

Axis 1 Amplifier Options

Axis 2 Amplifier Options

Axis 3 Amplifier Options

Axis 4 Amplifier Options

Axis 5 Amplifier Options

Axis 6 Amplifier Options

Axis 7 Amplifier Options

Axis 8 Amplifier Options

Line Cord (must select one)

Brake Options (up to 4 selections allowable)

Options (multiple selections allowable)

Standard Motor Power and Combination Power/FeedBack Cables (order as separate line items)

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.