Ensemble Epaq Stand-Alone Controller and Drive Rack
Not recommended for new designs. See the new Automation1 iXR3 Drive-Rack with Motion Controller. The Ensemble® Epaq is Aerotech’s 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. The Ensemble Epaq is offered in a 6-axis desktop (rack-mount optional) version with display and jog pad.
Description
Specifications
Dimensions
Ordering Info
Downloads
Description
Description
Specifications
Dimensions
Ordering Info
Downloads
Description
Design Features
- Up to six integrated drives in one stand-alone controller
- Additional external drive axes can be added to provide up to nine 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 micro-stepping 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
- Front panel display and control pad for convenient menu-driven axis control and status checking
- Axis jogging/control with optional joystick
- CE approved, EU 2015/863 RoHS 3 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
Versatile, Stand-Alone, Multi-Axis Control
The Ensemble Epaq is offered in a 6-axis desktop (rack-mount optional) version with display and jog pad. It 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 using the high-speed AeroNet serial interface for a total of nine 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 Epaqs can be controlled from one Windows® PC through Ethernet or USB. 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
Multiple Axis ControlUnlike 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 through the front panel or by remote control through Ethernet or USB, the full functionality of the Ensemble Epaq is available. On-board configuration and monitoring utilities simplify remote communications. To allow easy serial connectivity and ease of use, the Epaq features an RS-232 port (additional RS-232 port is an option).
Advanced DSP Control
The Ensemble Epaq 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 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 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, 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
Each Epaq features an optional second RS-232 port, and an axis expansion port. On a per axis basis the Epaq 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.
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.
Ordering Information
Ordering Options
Line Cord | Brake Options | Options |
/ENGLAND /GERMANY /ISRAEL /AUSTRALIA /INDIA /US-115VAC /US-230VAC /NOLINECORD |
/Brake-1 /Brake-2 /Brake-3 /Brake-4 /Brake-5 /Brake-6 |
/ESTOP0 /ESTOP1 /EXTAMP /SLIDE /RS232-2 |
Epaq
Option | Description |
Epaq-S | Six axis, desktop, stand-alone motion controller with integrated power supplies, and servo/stepping motor amplifiers. Features include independent or coordinated motion, point to point, linear and circular interpolation, constant velocity, velocity profiled, time based, free-run motion types, electronic gearing, backlash compensation, and 1D or 2D axis calibration. Ensemble Standard HMI Multi-Axis Software included. Up to 10 kHz servo update rate for all axes Digital servo loop One 10/100 base T Ethernet port, one USB 2.0 port, one RS-232 port Dedicated I/O per axis includes: CW, CCW, and home limits, marker, Hall effect sensors, enable, fault, for each axis User defined I/O includes eight opto-isolated inputs (sinking or sourcing), eight outputs (sinking or sourcing), one 12-bit analog input, one 16-bit analog output and brake relay; this I/O is on Axis 1; optional adder for axes 2-6 |
Epaq-R | Six axis, rack-mount, stand-alone motion controller with integrated power supplies, and servo/stepping motor amplifiers. Features include independent or coordinated motion, point to point, linear and circular interpolation, constant velocity, velocity profiled, time based, free-run motion types, electronic gearing, backlash compensation, and 1D or 2D axis calibration. Ensemble Standard HMI Multi-Axis Software included. Up to 10 kHz servo update rate for all axes Digital servo loop One 10/100 base T Ethernet port, one USB 2.0 Port, one RS-232 port Dedicated I/O per axis includes: CW, CCW, and home limits, marker, Hall effect sensors, enable, fault, for each axis User defined I/O includes eight opto-isolated inputs (sinking or sourcing), eight outputs (sinking or sourcing), one 12-bit analog input, one 16-bit analog output and brake relay; this I/O is on Axis 1; optional adder for axes 2-6 |
Standard or Blank Front Panel (must select one)
Option | Description |
-FPB | Blank front panel (without display or keypad) |
-FPD | Standard front panel (with display and keypad) |
-FPBE | Blank front panel with ESTOP switch (without display or keypad) |
-FPDE | Standard front panel with ESTOP switch (with display and keypad) |
Line Voltage (must select one)
Option | Description |
/A | 115 VAC line voltage |
/B | 230 VAC line voltage |
/C | 100 VAC line voltage |
/D | 200 VAC line voltage |
Bus Power Supply
Option | Description |
40 | 40 VDC motor supply, 600 W |
40LP | 40 VDC motor supply, 300 W |
80 | 80 VDC motor supply, 600 W |
80LP | 80 VDC motor supply, 300 W |
10B | ±10 VDC bipolar motor supply, 400 W |
20B | ±20 VDC bipolar motor supply, 400 W |
30B | ±30 VDC bipolar motor supply, 400 W |
40B | ±40 VDC bipolar motor supply, 600 W |
Axis 1 Amplifier Options (must select one)
Option | Description |
/1-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/1-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/1-ML10I | Digital linear amplifier, 10 A peak, 5 A continuous with I/O option |
/1-ML10MI | Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/1-ML10HI | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Axis 2 Amplifier Options (must select one)
Option | Description |
/2-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/2-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/2-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/2-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/2-BLANK | No amplifier |
/2-BLANKW | No amplifier, pre-wired only |
/2-ML10 | Digital linear amplifier, 10 A peak, 5 A continuous |
/2-ML10I | Digital linear amplifier, 10 A peak, 5 A continuous with I/O option |
/2-ML10M | Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/2-ML10MI | Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/2-ML10H | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) |
/2-ML10HI | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Axis 3 Amplifier Options (must select one)
Option | Description |
/3-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/3-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/3-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/3-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/3-BLANK | No amplifier |
/3-BLANKW | No amplifier, pre-wired only |
/3-ML10 | Digital linear amplifier, 10 A peak, 5 A continuous |
/3-ML10I | Digital linear amplifier, 10 A peak, 5 A continuous with I/O option |
/3-ML10M | Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/3-ML10MI | Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/3-ML10H | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) |
/3-ML10HI | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Axis 4 Amplifier Options (must select one)
Option | Description |
/4-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/4-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/4-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/4-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/4-BLANK | No amplifier |
/4-BLANKW | No amplifier, pre-wired only |
/4-ML10 | Digital linear amplifier, 10 A peak, 5 A continuous |
/4-ML10I | Digital linear amplifier, 10 A peak, 5 A continuous with I/O option |
/4-ML10M | Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/4-ML10MI | Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/4-ML10H | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) |
/4-ML10HI | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Axis 5 Amplifier Options (must select one)
Option | Description |
/5-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/5-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/5-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/5-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/5-BLANK | No amplifier |
/5-BLANKW | No amplifier, pre-wired only |
/5-ML10 | Digital linear amplifier, 10 A peak, 5 A continuous |
/5-ML10I | Digital linear amplifier, 10 A peak, 5 A continuous with I/O option |
/5-ML10M | Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/5-ML10MI | Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/5-ML10H | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) |
/5-ML10HI | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Axis 6 Amplifier Options (must select one)
Option | Description |
/6-MP10 | Digital PWM amplifier, 10 A peak, 5 A continuous |
/6-MP10I | Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option |
/6-MP10M | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/6-MP10MI | Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/6-BLANK | No amplifier |
/6‑BLANKW | No amplifier, pre-wired only |
/6-ML10 | Digital linear amplifier, 10 A peak, 5 A continuous |
/6-ML10I | Digital linear amplifier, 10 A peak, 5 A continuous with I/O option |
/6-ML10M | Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) |
/6-ML10MI | Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option |
/6-ML10H | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) |
/6-ML10HI | Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option |
- Effective multiplication factor specified after quadrature decoding (if applicable).
Line Cord (must select one)
Option | Description |
/ENGLAND | UK 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 | Us 115 VAC line cord |
/US-230VAC | US 230 VAC line cord |
/NO-LINECORD | No line cord |
Brake Options (up to 2 selections allowable)
Option | Description |
/BRAKE-1 | Axis 1 wired for 24 V, 1 A brake |
/BRAKE-2 | Axis 2 wired for 24 V, 1 A brake (amp must have “I” or “MI” option) |
/BRAKE-3 | Axis 3 wired for 24 V, 1 A brake (amp must have “I” or “MI” option) |
/BRAKE-4 | Axis 4 wired for 24 V, 1 A brake (amp must have “I” or “MI” option) |
/BRAKE-5 | Axis 5 wired for 24 V, 1 A brake (amp must have “I” or “MI” option) |
/BRAKE-6 | Axis 6 wired for 24 V, 1 A brake (amp must have “I” or “MI” option) |
Options (multiple selections allowable)
Option | Description |
/ESTOP0 | Provides user with a mushroom switch on front panel to stop motion, disable, and disconnect AC to motor power supply; requires -FPDE or -FPBE options |
/ESTOP1 | Controller stops motion, then disables servo control; internal positive guided relay with monitor contact disconnects AC power source from motor; operator risk assessment is the responsibility of the end user or integrator; not compatible with -FPBE or FPDE; user must provide external ESTOP switch and wiring to the Epaq |
/EXTAMP | External amplifier interface connector |
/SLIDE | Rack-mount slides to be used with Epaq-R |
/RS232-2 | Second RS-232 interface port |
Standard Motor Power and Combination Power/Feedback Cables (order as separate line items)
Option | Description |
C21481-50 | CABLE: BL MTR-4TS-4MS-LP1-MAX450DM: MS motor power cable; Epaq 4-terminal connector to 4-pin MS connector; 5 A continuous current; 5 meters long |
C21491-50 | CABLE: BL MTR-4TS-4DU-LP1-MAX450DM: HPD motor power cable; Epaq 4-terminal connector to 4-pin high power D connector; 5 A continuous current; 5 meters long |
C21511-50 | CABLE: BL MTR-4TS-4DU-LP1-HF-MAX450DM: Hi Flex HPD motor power cable; Epaq 4 terminal connector to 4-pin High Power D connector; 5 A continuous current; 5 meters long |
C21501-50 | CABLE: BL MTR & FB-4TS-25DU-25DU-MAX107DM: 25-pin D stage to split Epaq 4-terminal strip motor power and 25D feedback cable; 5 meters long |
C21521-50 | CABLE: SM MTR & FB-25DU-4TS-23B-MAX107DM: 23-pin stepper motor connector to split Epaq 4-terminal strip motor power and 25D feedback cable; 5 meters long |
C22091-50 | Motor power cable, high flex, 5.0 meters long, for use with Epaq; 4 A continuous current rating, to be used with 10 A peak drives ONLY
|
Accessories
Option | Description |
/JBV | Joystick with 5 ft cable |
/JI | Industrial joystick with 5 ft cable |
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.
Option | Description |
-TAS | Integration - Test as system Testing, integration, and documentation of a group of components as a complete system that will be used together (ex: drive, controller, and stage). This includes parameter file generation, system tuning, and documentation of the system configuration. |
-TAC | Integration - Test as components Testing and integration of individual items as discrete components that ship together. This is typically used for spare parts, replacement parts, or items that will not be used together. These components may or may not be part of a larger system. |