Ensemble HLe Controller and Linear Digital Drive

Description

Design Features

  • Network drives through a high-speed serial interface to coordinate up to ten axes of motion
  • Coordinate motion using up to five independent tasks
  • Drive and control linear or rotary brushless, DC brush servo, and micro-stepping motors
  • Command various motion types including: point-to-point, linear and circular interpolation, electronic gearing, and velocity profiling
  • Program in AeroBasic, Microsoft .NET (C#, VB.NET, C, and C++/CLI), LabVIEW, and MATLAB
  • Remotely command drives over Ethernet, USB, or RS-232 with an ASCII interface available for both Windows and non-Windows programs (including Linux)
  • Diagnose, tune, and program through an advanced Windows-based interface
  • 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
  • Output power range of 10 or 20 A peak

The Ensemble™ is Aerotech’s next-generation, multi-axis controller for moderate- to high-performance applications. Versatility, power, and affordability make the Ensemble ideal for applications from basic laboratory experimentation and general-purpose positioning to advanced OEM systems.

Versatile, Flexible, Stand-Alone Multi-Axis Control

Network multiple Ensemble HLe/ML combination controllers/drives for up to ten axes of coordinated motion, and seamlessly mix and match amplifiers (linear and PWM) and motor types (brush, brushless, and stepper) within the same positioning system using a common programming and control platform. High-accuracy linear motor air-bearing stages or lower precision stages with servo or stepper motors can be controlled from the linear Ensemble series. Each controller/drive can be reconfigured to accept different motors and feedback devices, allowing customers to adapt to changing system needs. Optional on-board encoder interpolation provides programmable axis resolution, including the ability to change interpolation (multiplication) values through software.

Powerful and Intuitive Programming

Monitor and control all aspects of the positioning system, no matter how complex, through the Ensemble GUI Integrated Development Environment software. An Autotuning utility minimizes startup time by allowing easy optimization of motion axes. Functional programs that can be modified and used in customer applications are included in the online Help. 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.

Advanced DSP Control

The processing power of a 225 MHz double precision, floating-point DSP supplies exceptional performance in a variety of applications including point-to-point motion, linear and circular interpolation, multi-axis error correction, 2D error mapping, 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 HLe/ML controller/drive combination also offers highspeed position latching capability and single-, dual-, or triple-axis PSO (Position Synchronized Output), depending on model. 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 operations.

Enhancing a Legacy of Success

Ensemble carries forward a legacy of success that originated in Aerotech’s A3200 and Soloist™ controllers. Enhanced capabilities make it an obvious choice for aggressive motion control applications. The Ensemble motion control architecture builds upon the Soloist™ intuitive graphical user interface, while improving multiaxis control through advanced features.

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 HLe Specifications

Ensemble HLeUnits10-4020-4010-80
Motor Style   Brush, Brushless, Stepper, Voice Coil
Motor Supply VAC 115/230; 50/60 Hz; Factory Configured
Control Supply(1) VAC 85-240; 50/60 Hz
Bus Voltage(2) VDC ±40 ±40 ±80
Peak Output Current (1 sec)(3,4) Apk 10 20 10
Continuous Output Current(3,4) Apk 5 10 5
Digital Inputs   6 Optically Isolated (2 High Speed)
Digital Outputs   4 Optically Isolated
Analog Inputs   One 16-bit Differential; ±10 V
Analog Outputs   One 16-bit Single-Ended
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
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(5)   16/16 Digital Opto-Isolated; 3 Analog In (±10 V, 16-bit Differential); 3 Analog Out (±10 V, 16-bit)
High Speed Data Capture   Yes (50 ns Latency)
Automatic Brake Control   Standard; 24 V @ 1 A
Emergency Stop Sense Input (ESTOP)(6)   Standard; 24 V Opto-Isolated
Position Synchronized Output (PSO)   Single Axis Standard, Two/Three Axis Optional
Can Output Multiplied Encoder   Yes
Can Output Square Wave Encoder   Yes
Primary Encoder Input Frequency   32 MHz Square Wave Standard; 500 kHz Sine Wave (MXH)
Secondary Encoder Input Frequency   32 MHz Square Wave
Encoder Multiplication   Up to x65536 with Quadrature Output (MXH)
Absolute Encoder   Renishaw Resolute BiSS; EnDat 2.1; EnDat 2.2
Resolver Interface   Optional; 1 or 2 Channel; 16-bit
Internal Shunt Resistor   N/A
External Shunt   N/A
Ethernet   Yes
USB   Yes
RS-232   Yes
FireWire   No
Fieldbus   Modbus TCP; Ethernet/IP
Current Loop Update Rate kHz 20
Servo Loop Update Rate kHz 10
Power Amplifier Bandwidth kHz Selectable Through Software
Minimum Load Inductance mH 0
Operating Temperature °C 0 to 50
Storage Temperature °C -30 to 85
Weight kg (lb) 10.36 (22.8)
Standards   CE approved, NRTL safety certification, 2011/65/EU RoHS 2 Directive
  1. "Keep Alive" supply.
  2. Output voltage is load dependent.
  3. Peak value of the sine wave; rms current for AC motors is 0.707 * Apk.
  4. Load dependent.
  5. Requires I/O option.
  6. Requires external relay to remove motor supply power.

Dimensions

  • Ensemble HLe
  • Ensemble HLe with additional I/O

Ordering Information

Please go here for ordering information.