Ensemble Epaq Hardware Manual Introduction
N O T E : Aerotech continually improves its product offerings; listed options may be superseded at any
time. All drawings and illustrations are for reference only and were complete and accurate as of this
manual’s release. Refer to www.aerotech.com for the most up-to-date information.
Table 1-1: FeatureSummary
Feature Details
Axes One to six axes (integral), expandable to nine externally
Axis Loop Type /
Update Rate
PID loop with up to 20 kHz servo update rate with feedforward; four user-
configurable digital filters (e.g., notch, low pass)
On-Board Memory Program Storage 2 MB flash memory for user programs, parameters,
miscellaneous storage
Program Execution 8 MB RAM
Driver Type
Compatibility
Brushless (linear or rotary) servo with on-board commutation
DC brush servo
Stepper / microstepper (on-board commutation)
Position Feedback 6-channel encoder interface, differential RS-422 signal, sine, cosine, and marker;
40 MHz input data rate; optional onboard analog encoder interpolation (of up to
1024-times encoder multiplication)
Position Modes Absolute, incremental, dynamic trajectory correction
Motion Types Independent Point-to-point incremental; target position or velocity;
velocity profiles; time based; free run
Coordinated Advanced queuing and deferred execution features for
simultaneous command execution
Interpolated Up to 6-axis linear and circular interpolation
Digitally Geared Gearing with optional auxiliary encoder input
Advanced Features Automatic PID loop gain computation (autotuning)
Contouring Cubic spline curve-fitting; velocity profiling
Error Mapping 2D error mapping, backlash compensation
Acceleration Profiles Linear and jerk limiting parabolic; independent acceleration and deceleration
profiles possible
Acceleration Ramp Rate, time, or distance based; independent acceleration and deceleration
capability
Programmable
Multitasking
Up to 5 independent tasks
Programming Command Set AeroBASIC, LabVIEW, VB.Net, C#, Native C++
programming
Interface On-board menu-driven program selection from front panel;
program editing and download with Windows® PC through
Ethernet or USB to Host PC, or ASCII commands via RS-
232, IEEE-488, or Ethernet
Process Time Command execution up to 1000 lines of code per 1 ms (from command sent to
motion start); read request @ 1 ms; average is 7 µs per program line (e.g., c = a +
b)
2 Chapter 1 www.aerotech.com
To Next Page
Loading...
Need help?
General
