Motion Controller Selection Guide
Platform Overview |
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| Controller Platform | Automation1 | A3200 | Ensemble | Soloist |
| Develop: Software | Automation1 MDK Motion Control Development Kit | A3200 Motion Composer Suite | Ensemble Motion Composer Suite | Soloist Motion Composer Suite |
| Control: Machine & Motion Controller | Automation1 iSMC Intelligent Software-Based Machine & Motion Controller | A3200 Software-Based Machine Controller | Ensemble Drive-Based Multi-Axis Motion Controller | Soloist Drive-Based Single-Axis Motion Controller |
| Drive: Servo Motor, Galvo Scan Head, and Other Drives* | Servo Motor Galvo Scan Head Hexapod** Coming Soon: Piezo Actuator |
Servo Motor Galvo Scan Head Piezo Actuator Hexapod |
Servo Motor Piezo Actuator |
Servo Motor |
| Connect: Motion Control Bus | HyperWire | IEEE-1394 | AeroNet | n/a |
| Connect: Interface to the Controller | See below | See below | See below | See below |
| *note: See drive hardware section below for details. **note: Hexapods can be controlled by servo motor drives. |
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Develop: Software Features |
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| General Tools | Automation1 | A3200 | Ensemble | Soloist |
| Single Application for Configuring, Programming, and Data Visualization | Yes | No | No | No |
| Application-Wide User Management | Yes | No | No | No |
| Deploy Custom Applications for Linux | Yes | No | No | No |
| Advanced Controller File System | Yes | No | No | No |
| All Controller Files Zip to Single Machine Controller Definition File | Yes | No | No | No |
| Access Control | Yes | No | No | No |
| Multiple Simultaneous Client Connections to a Controller | Coming Soon | No | No | No |
| Controller History Tracking | Coming Soon | No | No | No |
| Plug & Play Electrical and Mechanical Device Support | Coming Soon | Limited | Limited | No |
|
Available Add-On Applications |
Automation1 |
A3200 |
Ensemble |
Soloist |
|
Motor Sizer (Free) |
Yes |
Yes |
Yes |
Yes |
|
Device Manager (Catalog Manager) |
Yes |
Yes |
Yes |
Yes |
|
Motion Designer |
Future |
Yes |
Yes |
Yes |
|
HexGen Hexapod Sizer |
Yes |
Yes |
n/a |
n/a |
|
CADFusion |
Yes |
Yes |
No |
No |
|
Galvo CFC (Free) |
Yes |
Yes |
n/a |
n/a |
|
CNC Operator Interface |
Future |
Yes |
No |
No |
|
Setup & Configuration Tools |
Automation1 |
A3200 |
Ensemble |
Soloist |
|
EasyTune 1-Button Servo Tuning |
Yes |
Yes |
Yes |
Yes |
|
Axis Calibration |
Yes |
Yes |
Yes |
Yes |
|
Sine-wave Encoder Tuning |
Yes |
Yes |
Yes |
Yes |
|
Loop Transmission / Frequency Response Tool |
Yes |
Yes |
Yes |
Yes |
|
Advanced Diagnostics and Tuning |
Yes |
Yes |
Yes |
Yes |
|
System and Controller Performance Checking |
Yes |
No |
No |
No |
|
Automatically Configure Drive Communication Bus |
Yes |
No |
No |
No |
|
Machine Setup System Configuration Wizard |
Yes |
No |
No |
No |
|
Programming & Development |
Automation1 | A3200 | Ensemble | Soloist |
|
Programming Language |
AeroScipt | AeroBasic | AeroBasic | AeroBasic |
|
Load, Compile, and Run Programs |
Yes | Yes | Yes | Yes |
|
Numeric Data Type |
Yes | Yes | Yes | Yes |
|
String Data Types |
Yes | Yes | Yes | Yes |
|
Global Variables |
Yes | Yes | Yes | Yes |
|
User-Defined Functions |
Yes | Yes | Yes | Yes |
|
Variables and I/O Watch |
Yes | Yes | Yes | Yes |
|
Multi-dimensional Arrays |
Yes | No | Yes | Yes |
|
Program & Local Variables |
Yes | No | Yes | Yes |
|
Structures |
Yes | No | Yes | Yes |
|
User-Defined Libraries |
Yes | No | Yes | Yes |
|
Intellectual Property Protection of Libraries |
Yes | No | Yes | Yes |
|
Intelligent Autocomplete IDE |
Yes | No | No | No |
|
Real-Time Build Error Checking |
Yes | No | No | No |
|
Axis Data Type & Axis Arrays |
Yes | No | No | No |
|
Switch, Foreach, and Break Statements |
Yes | No | No | No |
|
CNC Functionality/RS-274 |
Yes* | Yes | No | No |
|
*note: G-Code was a paid option in the A3200 controller, but comes standard with an Automation1 controller. |
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| Data Collection & Visualization | Automation1 | A3200 | Ensemble | Soloist |
| 1D and 2D Data Visualizer | Yes | Yes | Yes | No |
| Fast Fouier Transforms (FFTs) | Yes | Yes | Yes | Yes |
| Save System Data Directly to A File | Yes | Yes | Yes | Yes |
Control: Machine & Motion Controller Features |
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|
Controller Hardware |
Automation1 | A3200 | Ensemble | Soloist |
|
Industrial PCs |
Automation1 iPC | A3200-iPC | n/a | n/a |
|
Customer PCs |
Yes* | Yes* | n/a | n/a |
|
Intelligent Drive-Based Controller |
Coming Soon | n/a | Yes, All Drives** | Yes, All Drives** |
|
*note: PC must meet Aerotech's specifications and adhere to all required setup procedures. |
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|
General Features |
Automation1 | A3200 | Ensemble | Soloist |
|
Programmable Coordinated Motion Trajectories |
Yes, 32 Axes | Yes, 32 Axes | Yes, 10 Axes | No, Single Axis |
| Programming Multiple Tasks / Threads | Yes, 32 | Yes, 32 | Yes, 5 | Yes, 5 |
| PC-based / Software Controller | Yes | Yes | No | No |
| Drive-based Controller | Coming Soon | n/a | Yes | Yes |
| Expanded IO Available | Yes | Yes | Yes | Yes |
| Dual Loop Control | Yes | Yes | Yes | Yes |
| Sinusoidal Commutation | Yes | Yes | Yes | Yes |
| Fast Position Capture | Yes | Yes | Yes | Yes |
| High-Speed Registration | Yes | Yes | Yes | Yes |
| On-the-Fly End-Point Modification | Yes | Yes | Yes | Yes |
| Data Acquisition | Yes | Yes | Yes | Yes |
| Joystick Support | Yes | Yes | Yes | Yes |
| Gantry Mode | Yes | Yes | Yes | No |
| Signal Logging | Yes | Yes | No | No |
| Coordinate Transformations | Yes | Yes | No | No |
| Motion Trajectory Scaling | Yes | Yes | No | No |
| Motion Trajectory Translation | Yes | Yes | No | No |
| Motion Trahectory Rotation | Yes | Yes | No | No |
| Motion Trajectory Mirroring | Yes | Yes | No | No |
| Kinematics* | Yes | Yes | No | No |
| 3D Error Mapping | Yes | Yes | No | No |
| *note: Automation1 has a C programming language kinematic interface which enables both inverse and forward kinematics to be calculated. Please consult the factory about this capability. | ||||
| Calibration | Automation1 | A3200 | Ensemble | Soloist |
| 1D Calibration File | Yes | Yes | Yes | Yes |
| Accuracy Correction | Yes | Yes | Yes | Yes |
| 2D Calibration File | Yes | Yes | Yes | No |
| Orthogonality Correction | Yes | Yes | Yes | No |
| Straightness Correction | Yes | Yes | Yes | No |
| ThermoComp - Thermal Compensation | Yes | Yes | No | No |
| Galvo Calibration and Power Factor Correction | Yes | Yes | No | No |
| Advanced Calibration | Coming Soon | No | No | No |
| Motion Features | Automation1 | A3200 | Ensemble | Soloist |
| Servo Motor Trajectory Calculation Rate | 20 kHz | 8 kHz | 1 kHz | 1 kHz |
| Galvo Scan Head Trajectory Calculation Rate | 100 kHz | 48 kHz | n/a | n/a |
| Point to Point Motion | Yes | Yes | Yes | Yes |
| Contoured Motion | Yes | Yes | Yes | n/a |
| Arbitrary Path Generation (PVT Motion Commands) | Yes | Yes | Yes | Yes |
| Multiple Axis Homing Routines | Yes | Yes | Yes | Yes |
| Velocity Blending | Yes | Yes | Yes | Yes |
| Velocity Profiling | Yes | Yes | Yes | Yes |
| Electronic Gearing | Yes | Yes | Yes | Yes |
| Electronic Cam Profiling | Yes | Yes | Yes | Yes |
| Safe Zones | Yes | Yes | No | No |
| Bezier Motion Commands | Coming Soon | Yes | No | No |
| Cutter Radius Compensation | Yes | Yes | No | No |
| Lookahead | Yes | Yes | No | No |
| Acceleration Limiting | Yes | Yes | No | No |
| Corner Rounding | Yes | Yes | No | No |
| Parts Rotation | Yes | Yes | No | No |
| Retrace (Block by Block) | Yes | Yes | No | No |
| Tool Normalcy Control | Yes | Yes | No | No |
| SLICE Raster & Step Command* | Future | Yes | No | No |
| Ellipses (G-Code)* | Future | Yes | No | No |
| PROBE Command* | Future | Yes | No | No |
| Fixture Offsets | Future | Yes | No | No |
| Cutter Offset Compensation* | Future | Yes | No | No |
| Tool Tables | Future | Yes | No | No |
| *note: Automation1 includes the ability to write custom libraries. Several application-specific motion commands once handled natively by Aerotech controllers can now be accomplished via custom libraries. Aerotech's own libraries will be further developed over time. | ||||
| Advanced Motion Features | Automation1 | A3200 | Ensemble | Soloist |
| Enhanced Tracking Control | Yes | Yes | Yes | Yes |
| Friction Compensation | Yes | Yes | Yes | Yes |
| Command Shaping | Coming Soon | Yes | Yes | Yes |
| Cross-axis Feedforward | Coming Soon | Yes | Yes | No |
| Harmonic Cancellation | Coming Soon | Yes | Yes | Yes |
| Enhanced Throughput Module Support | Yes | Yes | Yes | Yes |
| Gain Scheduling | Coming Soon | No | Yes | Yes |
| Process Tool Control Features | Automation1 | A3200 | Ensemble | Soloist |
| Integrated Digital and Analog I/O Control with Motion Programming | Yes | Yes | Yes | Yes |
| Position Synchronized Output (PSO) | Yes | Yes | Yes | Yes |
| Part-Speed Position Synchronized Output (Part-Speed PSO) | Yes | Yes | No | No |
| Analog Power Control | Yes | Yes | Yes | Yes |
| Distance Logging | Future | Yes | No | No |
Drive: Servo Motor, Galvo Scan Head, and Other Drive Features |
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| Drive Hardware | Automation1 | A3200 | Ensemble | Soloist |
| Servo Drives with PWM Amplifiers | Automation1 XC4e Automation1 XC4 Automation1 XC2e Automation1 XC2 Automation1 XC6e |
Automation1 XC4e Automation1 XC4 Automation1 XC2 Ndrive HPe Ndrive CP Ndrive MP |
Ensemble Hpe Ensemble CP Ensemble MP |
Soloist HPe Soloist CP Soloist MP |
| Servo Drives with Linear Amplifiers | Automation1 XL5e Coming Soon: Automation1 XL2e |
Ndrive HLe Ndrive ML |
Ensemble HLe Ensemble ML |
Soloist HLe Soloist ML |
| Drive Racks | Automation1 XR3 | Automation1 XR3 Npaq Npaq 6U Npaq MR Ndrive MPC |
Epaq Epaq MR |
No |
| Galvo Scan Head Controllers | Automation1 GL4 Automation1 XL4s |
Automation1 GL4 Automation1 XL4s Nmark GCL |
No | No |
| Dedicated Hexapod Controllers | Future | HEX RC | No | No |
| Piezo Nanopositioner Drive | Coming Soon: Automation1 QL4e Automation1 QL4 |
Ndrive QLe Ndrive QL |
Ensemble QLe Ensemble QL Ensemble QDe Ensemble LAB |
No |
| Analog Amplifier Interface | Coming Soon: Automation1 XI4 |
Nservo Nservo-OEM |
No | No |
| Clock & Direction Interface | Automation1 SI4 | Nstep | No | No |
| Galvo Scan Head XY2-100 Interface | Coming Soon: Automation1 GI4 |
Nmark-SSaM | No | No |
| Servo Motor Drive Features | Automation1 | A3200 | Ensemble | Soloist |
| Servo Control Rate | 20 kHz | 8 kHz | 20 kHz* | 20 kHz |
| PWM and Linear Amplifier Options | Yes | Yes | Yes | Yes |
| AC Brushless, DC Brush, Voice Coil, and Stepper Motor Support | Yes | Yes | Yes | Yes |
| Hexapod Support | Yes | Yes | No | No |
| Backlash Compensation | Yes | Yes | Yes | Yes |
| Rollover Mode | Yes | Yes | Yes | Yes |
| Brake (Enable/Output/DisableDelay/EnableDelay) | Yes | Yes | Yes | Yes |
| Analog and Digital I/O | Yes | Yes | Yes | Yes |
| Drive Array for Process Control & Data Acquisition | Yes | Yes | Yes | Yes |
| Safe Torque Off | Yes | No** | No** | No* |
| Autofocus | Yes | Yes | Yes | Yes |
| Analog Input to Servo Loop | Coming Soon | Yes | Yes | Yes |
| Fiber Optic Alignment Routines | Coming Soon | Yes | No | No |
| Touch Probe Routines | Future | Yes | No | No |
| Velocity Mode | Future | No | No | Yes |
| Torque Mode | Future | No | No | Yes |
| Barcode Datamatrix | No*** | Yes | No | No |
| *note: The Automtion1 servo controller operates off of a 20kHz trajectory from the controller. Ensemble and Soloist have servo controllers that interpolate up to 20 kHz of servo control points from a 1 kHz trajectory. **note: These drives include an E-stop Sense input which alarms the drive of an external e-stop condition ***note: barcode generation supported via Windows fonts in CADFusion application. |
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| Galvo Scan Head Controller Features | Automation1 | A3200 | Ensemble | Soloist |
| Servo Control Rate | 200 kHz | 192 kHz | n/a | n/a |
| Galvo Scan Head and Voice Coil Motor Support | Yes | Yes | n/a | n/a |
| Ifinite Field of View (IFOV) | Yes | Yes | n/a | n/a |
| Drive Array for Process Control & Data Acquisition | Yes | Yes | n/a | n/a |
| Barcode Datamatrix* | Coming Soon | Yes | No | No |
| *note: barcode generation supported via Windows fonts in CADFusion application. | ||||
| Piezo Nanopositioner Drive Features | Automation1 | A3200 | Ensemble | Soloist |
| Servo Control Rate | Coming Soon | 24 kHz | 20 kHz | n/a |
| Piezo Nanopositioning Stage Support | Coming Soon | Yes | Yes | No |
| Capacitive Sensor Feedback | Coming Soon | Yes | Yes | No |
| Supported Feedback Devices | Automation1 | A3200 | Ensemble | Soloist |
| None (Open-Loop) | Yes | Yes | Yes | Yes |
| Square-Wave Encoder | Yes | Yes | Yes | Yes |
| Single-Wave Encoder | Yes | Yes | Yes | Yes |
| Analog Input | Yes | Yes | Yes | Yes |
| Half-Effect Switches | Yes | Yes | Yes | Yes |
| EnDat Encoder | Yes | Yes | Yes | Yes |
| Biss Encoder | Yes | Yes | Yes | Yes |
| Resolver | Future | Yes | Yes | Yes |
| Capacitance Sensor (Piezo) | Coming Soon | Yes | Yes | No |
| SSI Encoder | Coming Soon | No | No | No |
| Dual Loop | Yes | Yes | Yes | Yes |
| Dual-Loop with Sine-Wave Encoders | Yes | No | No | No |
| Parallel Laser Interface | Future | Yes | No | No |
Connect: Motion Control Bus |
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| General Specs | Automation1 | A3200 | Ensemble | Soloist |
| Motion Control Bus | HyperWire | FireWire | AeroNet | n/a |
| Physical Layer | Glass Optical Fiber | IEEE-1394 | Ethernet | n/a |
| Communication Rate | 2 Gbps | 400 Mbps | 12.5 Mbps | n/a |
| Jitter* | <1 nsec | 60 - 680 nsec | 20 - 180 nsec | n/a |
| Master Clock Stability | +/- 5ppm | +/- 100ppm | +/- 50ppm | n/a |
| Maximum Network Rate | 100 kHz | 8 kHz | 1 kHz | n/a |
| MIMO Communication Support | Gantry Control over HyperWire | No | No | n/a |
| *note: Patent pending jitter reduction technology which nearly eliminates drive-to-drive jitter and maintains constant low jitter for variable numbers of hardware devices on the communication bus. | ||||
Connect: Interface to the Controller |
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| Library Support | Automaton1 | A3200 | Ensemble | Soloist |
| .NET | Yes | Yes | Yes | Yes |
| C | Yes | Yes | Yes | Yes |
| C++ | Yes | Yes | Yes | Yes |
| LabVIEW VIs | Coming Soon | Yes | Yes | Yes |
| MATLAB API | Coming Soon | Yes | Yes | Yes |
| EPICS | Coming Soon | Yes | Yes | Yes |
| Tango | Future | No | Yes | Yes |
| Python | Coming Soon | No | No | No |
| REST API | Future | Yes | Yes | No |
| Industrial Bus Support | Automation1 | A3200 | Ensemble | Soloist |
| EtherCAT | Coming Soon | Yes | No | No |
| PROFINET | Future | Yes | No | No |
| EtherNet/IP | Future | No | Yes | Yes |
| Modbus TPC | Future | Yes | Yes | Yes |
| Web Server | Future | Yes | No | No |
| Ethernet TCP/IP | Future | Yes | Yes | Yes |
| RS-232 | No | Yes | Yes | Yes |