Ensemble Epaq MR Stand-Alone Controller

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

FeatureUnitsDescription
Number of Axes   1 to 8
Encoder Inputs   1 Primary and 1 Auxiliary Per Axis
Motor Style   Brush, Brushless, Stepper
Power Supply VAC 100-240 VAC; 50/60 Hz (Factory Configured)
Bus Voltage VDC 10-80
Peak Output Current (1 sec)(1) Apk 10
Continuous Output Current(1) Apk 5
Digital Inputs   No
Digital Outputs   No
Analog Inputs   One 16-bit Analog Input per Axis
Analog Outputs   No
Dedicated Axis I/O on Feedback Connector   Three Limit Inputs (CW, CCW, Home); Three Hall Effect Inputs (A, B, C); Three High-Speed Differential Inputs (sin, cos, mkr for encoder); Motor Over-Temperature Input; One 16-bit Analog Input
Dedicated I/O on Auxiliary Feedback Connector   sin, cos, mkr for Aux Enc; Aux Enc can be used for PSO Output
I/O Expansion Board(2)   One 12-bit Differential Analog Input; One 16-bit Analog Output; Eight Digital Inputs, Optically Isolated, Sinking or Sourcing; Eight Optically Isolated Digital Outputs per Axis
High Speed Data Capture   Yes(2)
High Speed Digital Outputs   No
Bidirectional Lines   No
Automatic Brake Control   Optional
Emergency Stop (ESTOP)   Optional
Position Synchronized Output (PSO)   Single Axis Standard
Can Output Multiplied Encoder   Yes (only with MXH option)
Can Output Square Wave Encoder   Yes
Primary Encoder Input Frequency with Multiplication   200 kHz (MXU) or 450 kHz (MXH) sine wave
Primary Encoder Input Frequency Square Wave   10 MHz square wave frequency/40 MHz count rate
Secondary Encoder Input Frequency   10 MHz square wave frequency/40 MHz count rate
Laser Feedback Support   No
Encoder Multiplication(3)   x4096 (MXU); x65536 (MXH)
Resolver Interface   No
Internal Shunt Resistor   No
External Shunt   No
Ethernet   Yes
USB   No
RS-232   Yes
FireWire   No
Fieldbus   Modbus TCP on PC
Joystick   Yes
Additional Interfaces   10/100 Base T Ethernet communication interface for system setup, application networking, Epaq-to-Epaq communications, embedded programming, immediate commands, and Modbus over TCP; USB communication interface for system setup, application networking, Windows® PC control interface; RS-232 port with programmable baud rate, length, parity, stop bits
Other I/O   No
Current Loop Update Rate kHz 20
Servo Loop Update Rate kHz 1 to 20
Power Amplifier Bandwidth kHz Selectable Through Software
Minimum Load Inductance mH 0.1 mH with PWM; 0 with Linear
Operating Temperature °C 0 to 50
Storage Temperature °C -30 to 85
Weight kg (lb) 16 (35)
Package   Rack Mount
Standards   CE approved, NRTL safety certification, 2011/65/EU RoHS 2 Directive
  1. Peak value of the sine wave; rms current for AC motors is 0.707 * Apk.
  2. Requires I/O option.
  3. Effective multiplication factor after quadrature decoding (if applicable).

 

    Integrated Amplifier Electrical SpecificationsMPML
    Output Voltage VDC 10, 20, 30, 40, 80 10, 20, 30, 40
    Peak Output Current A 10 10(1)
    Continuous Output Current A 5 5(1)
    PWM Switching Frequency kHz 20 N/A
    Power Amplifier Bandwidth kHz Software Selectable Software Selectable
    Minimum Load Inductance mH 0.1 0
    Operating Temperature °C 0 to 50 0 to 50
    Storage Temperature °C -20 to 85 -20 to 85
    Weight kg 0.5 0.5
    1. Actual current ratings dependent on motor resistance.

    Dimensions

    • 4-Axis Chassis
    • 8-Axis Chassis

    Ordering Information

    Ordering Example

    Ensemble Epaq MR /4AXIS-BOX -A -4-40LP /1-MP10I /2-MP10 /3-MP10

    Ordering Options

    Base PackageLine VoltageBus Power SupplyAxis 1 AmpAxis 2 AmpAxis 3 Amp
    Ensemble Epaq MR /4AXIS-BOX
    /8AXIS-BOX
    -A
    -B
    -C
    -D
    -4-40LP
    -4-80LP
    -4-40
    -4-80
    -4-10B
    -4-20B
    -4-30B
    -4-40B
    -8-40LP
    -8-80LP
    -8-40
    -8-80
    -8-10B
    -8-20B
    -8-30B
    -8-40B
    /1-MP10
    /1-MP10I
    /1-MP10M
    /1-MP10MI
    /1-MP10-HB
    /1-MP10I-HB
    /1-MP10M-HB
    /1-MP10MI-HB
    /1-ML10
    /1-ML10I
    /1-ML10M
    /1-ML10MI
    /1-ML10H
    /1-ML10HI
    /2-MP10
    /2-MP10I
    /2-MP10M
    /2-MP10MI
    /2-MP10-HB
    /2-MP10I-HB
    /2-MP10M-HB
    /2-MP10MI-HB
    /2-ML10
    /2-ML10I
    /2-ML10M
    /2-ML10MI
    /2-ML10H
    /2-ML10HI
    /3-MP10
    /3-MP10I
    /3-MP10M
    /3-MP10MI
    /3-MP10-HB
    /3-MP10I-HB
    /3-MP10M-HB
    /3-MP10MI-HB
    /3-ML10
    /3-ML10I
    /3-ML10M
    /3-ML10MI
    /3-ML10H
    /3-ML10H

    Ordering Example (continued)

    /4-MP10 /5-MP10> /6-MP10> /7-MP10 >/8-MP10 /US-115VAC /Brake-2 /JOY-1

    Ordering Options (continued)

    Axis 4 AmpAxis 5 AmpAxis 6 AmpAxis 7 AmpAxis 8 AmpLine CordBrake Options
    /4-MP10
    /4-MP10I
    /4-MP10M
    /4-MP10MI
    /4-MP10-HB
    /4-MP10I-HB
    /4-MP10M-HB
    /4-MP10MI-HB
    /4-ML10
    /4-ML10I
    /4-ML10M
    /4-ML10MI
    /4-ML10H
    /4-ML10HI
    /5-MP10
    /5-MP10I
    /5-MP10M
    /5-MP10MI
    /5-MP10-HB
    /5-MP10I-HB
    /5-MP10M-HB
    /5-MP10MI-HB
    /6-MP10
    /6-MP10I
    /6-MP10M
    /6-MP10MI
    /6-MP10-HB
    /6-MP10I-HB
    /6-MP10M-HB
    /6-MP10MI-HB
    /7-MP10
    /7-MP10I
    /7-MP10M
    /7-MP10MI
    /7-MP10-HB
    /7-MP10I-HB
    /7-MP10M-HB
    /7-MP10MI-HB
    /8-MP10
    /8-MP10I
    /8-MP10M
    /8-MP10MI
    /8-MP10-HB
    /8-MP10I-HB
    /8-MP10M-HB
    /8-MP10MI-HB
    /ENGLAND
    /GERMANY
    /ISRAEL
    /INDIA
    /AUSTRALIA
    /US-115VAC
    /US-230VAC
    /NO-LINECORD
    /BRAKE-1
    /BRAKE-2
    /BRAKE-3
    /BRAKE-4
    /BRAKE-5
    /BRAKE-6
    /BRAKE-7
    /BRAKE-8

    Ensemble Epaq MR Software

    Option Description
    ENSEMBLE-MC ENSEMBLE: Full installation of Ensemble controller and selected software components on a new system. Full part number includes software options listed below. Pricing is summation of selected software products. Maintenance (software update) included in price for one year from date of purchase.
    -MC MOTION COMPOSER STANDARD: Includes the Integrated Development Environment, Scope, System Diagnostics and System Maintenance. Ensemble Motion Composer is intended for deployment on desktop or industrial PC with a minimum Intel Pentium 4 processor, 512 MB RAM, Windows® XP or Windows® Vista Business (without SP1 installed). A full list of PC requirements and recommendations is available at www.aerotech.com. Includes the following software options:

    License

    Option Description
    -MACHINE Provides the ability to write, compile, execute, debug programs in AeroBasic; full access to .NET 2.0 and C Library; access full diagnostics, fault and status information; access and set I/O, registers and variables; collect, analyze and save data; view files from machine for analysis and record keeping; connect PC to machine through Ethernet TCP/IP; upgrades can be installed (firmware or controller) using Loader; includes Ensemble-MC Standard; Note: The price of the first MACHINE license is included in the hardware price. The list price of the MACHINE license is used for multiple license copies and/or computing the Maintenance Price.

    Controller Options

    Option Description
    -FIVE AXIS CONTOURING More than 4 axes of coordinated motion with a single motion command
    -DYNAMIC CONTROLS TOOLBOX Includes Harmonic Cancellation
    -ENHANCED THROUGHPUT MODULE Includes setup and monitoring screens of the ETM module; included in the price of the hardware modules sold separately
    -LCK Locked drive; firmware and calibration data on the drive cannot be modified by the user after the product leaves Aerotech; the drive must be returned to Aerotech if firmware/calibration updates are required; read/write access to parameters and programs is supported

    System Options

    Option Description
    -ETHERNET/IP ODVA certified EtherNet/IP™ module provides full integration with Allen Bradley PLC and programmable from RSLogix. Module has two APIs: ASCII and Register-to-Register

    Motion Composer (MC) Options

    Option Description
    -MOTION DESIGNER The Motion Designer is an add-on software component to the Digital Scope that provides the ability to create, import, run and evaluate motion profiles (trajectories)
    -LABVIEW Includes LabVIEW 8.2 VI samples

    Maintenance

    Option Description
    -MAINTENANCE First year of maintenance is included with the initial purchase; additional years can be purchased

    Epaq MR Ordering Information

    Epaq MR

    Option Description
    Epaq MR Four or eight 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, freerun 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 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 on I/O option board 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

    Package

    Option Description
    /4AXIS-BOX Supports up to 4 axes of motion
    /8AXIS-BOX Supports up to 8 axes of motion

    Line Voltage

    Option Description
    -A 115 VAC input voltage
    -B 230 VAC input voltage
    -C 100 VAC input voltage
    -D 200 VAC input voltage

    Bus Power Supply

    Option Description
    -4-40LP Four axis rack with 40 VDC bus; up to 300 watts
    -4-80LP Four axis rack with 80 VDC bus; up to 300 watts
    -4-40 Four axis rack with 40 VDC bus; up to 600 watts
    -4-80 Four axis rack with 80 VDC bus; up to 600 watts
    -4-10B Four axis rack with ±10 VDC bus; up to 400 watts
    -4-20B Four axis rack with ±20 VDC bus; up to 400 watts
    -4-30B Four axis rack with ±30 VDC bus; up to 400 watts
    -4-40B Four axis rack with ±40 VDC bus; up to 600 watts
    -8-40LP Eight axis rack with 40 VDC bus; up to 500 watts
    -8-80LP Eight axis rack with 80 VDC bus; up to 500 watts
    -8-40 Eight axis rack with 40 VDC bus; up to 500 watts
    -8-80 Eight axis rack with 80 VDC bus; up to 1000 watts
    -8-10B Eight axis rack with ±10 VDC bus; up to 400 watts
    -8-20B Eight axis rack with ±20 VDC bus; up to 400 watts
    -8-30B Eight axis rack with ±30 VDC bus; up to 400 watts
    -8-40B Eight axis rack with ±40 VDC bus; up to 600 watts

    Axis 1 Amplifier Options

    Option Description
    /1-MP10 Digital PWM amplifier, 10 A peak, 5 A continuous
    /1-MP10I Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
    /1-MP10M Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /1-MP10MI Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
    /1-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /1-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /1-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /1-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    /1-ML10 Digital linear amplifier, 10 A peak, 5 A continuous
    /1-ML10I Digital linear amplifier, 10 A peak, 5 A continuous with I/O option
    /1-ML10M Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /1-ML10MI Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
    /1-ML10H Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)
    /1-ML10HI Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 2 Amplifier Options

    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-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /2-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /2-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /2-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    /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)
    /2ML10HI Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 3 Amplifier Options

    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-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /3-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /3-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /3-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    /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 with I/O option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 4 Amplifier Options

    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-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /4-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /4-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /4-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    /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
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 5 Amplifier Options

    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-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /5-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /5-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /5-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 6 Amplifier Options

    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-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /6-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /6-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /6-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 7 Amplifier Options

    Option Description
    /7-MP10 Digital PWM amplifier, 10 A peak, 5 A continuous
    /7-MP10I Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
    /7-MP10M Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /7-MP10MI Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
    /7-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /7-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /7-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /7-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    1. Effective multiplication factor specified after quadrature decoding (if applicable).

    Axis 8 Amplifier Options

    Option Description
    Axis 8 Amplifier Options
    /8-MP10 Digital PWM amplifier, 10 A peak, 5 A continuous
    /8-MP10I Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
    /8-MP10M Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)
    /8-MP10MI Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
    /8-MP10-HB Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
    /8-MP10I-HB Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
    /8-MP10M-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
    /8-MP10MI-HB Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
    1. 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 4 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)
    /BRAKE-7 Axis 7 wired for 24 V, 1 A brake (amp must have I or MI option)
    /BRAKE-8 Axis 8 wired for 24 V, 1 A brake (amp must have I or MI option)

    Options (multiple selections allowable)

    Option Description
    -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
    -ESTOP2 Same as ESTOP1 but uses two relays
    -ESTOP3 Same as ESTOP2 but contains 1 second bus discharge resistors
    -SLIDE Rack-mount slides

    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
    • Motor type: brushless
    • Motor/stage connector: 4-pin high power D
    • Amplifier connector: 4-pin terminal strip Epaq connector
    • Maximum cable length: 45 meters
    • Minimum bend radius 60 mm (2.36")
    • Rated for continuous flex
    • BL MTR-FLB-4DU-HF60-4ARMS-MAX 450DM