Advanced Controller Capabilities

Aerotech advanced controls will increase your machine performance — throughput, accuracy and in-position stability.

Harmonic Cancellation

  • Reduce position error on periodic trajectories
  • Reject periodic disturbances
  • Built-in setup wizards
  • Adapts to magnitude and frequency of error source

Harmonic CancellationAerotech's Harmonic Cancellation algorithm dramatically reduces positioning errors on systems with periodic trajectory commands or disturbances. This feature, part of the Dynamic Controls Toolbox, provides an easy-to-use command set and graphical user interface to enable the algorithm and to extract the highest possible performance from your investment in a precision motion control system. For more information, read the Motion System Design magazine article, Harmonic Cancellation Algorithms.


  • Machining
  • Cogging Reduction
  • MEMS Sensor Testing
  • Spindle Control
  • RΘ Wafer Inspection

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Iterative Learning Control

Iterative Learning Control

  • Repeating move sequences can be learned and optimized
  • Reduce following error
  • Increase dynamic accuracy
  • Increase production rates

  • Stencil Cutting
  • Sensor Testing
  • Stent Cutting
  • Micromachining

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Enhanced Throughput Module (ETM)

Enhanced Throughput

  • Multi-axis feedforward capability
  • Faster settling time
  • Increase rate stability


  • Pick and Place Machines
  • Semiconductor Inspection
  • Genome Sequencing

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Enhanced Tracking Control (ETC)


  • Improvements in point-to-point positioning
  • Improvements in dynamic tracking
  • Improvements in galvo mirror control

Applications: Improves point‐to‐point settling times and reduces tracking errors in precision applications

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Directional Gain Scheduling

Directional Gain Scheduling
  • Decrease settle times
  • Increase in-position stability
  • Automatically adjusts gain based on error motion during settling
  • Increase machine throughput with environmental disturbances creating base motion

Applications: Any high accuracy machine where stiction/friction increases settling time

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Gantry Control

Gantry Control
  • Both spars are programmed and commanded as a single axis
  • Easy homing
  • Marker offset for high accuracy
  • Orthogonality correction

Gantry Modes:

  • Current synchronization
  • Position synchronization

Gantry Configuration:

  • 2 motors, 2 encoders
  • 2 motors, 1 encoder
  • 1 motor, 1 encoder

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Friction Compensation

  • Reduced settle time
  • Reduced error at direction reversals
  • High speed, high accelerations and minimal position error achieved with feedforward additive force

Advanced Friction Model                                               Friction Compensation Results

Advanced Friction Model
Friction Compensation

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Command Shaping

Command Shaping

  • Increase throughput
  • Faster settle time at the work point
  • No additional sensors required
  • Reduced vibration in point-to-point moves
  • Easy tuning


  • Pick and place machines
  • Semiconductor inspection
  • Genome sequencing

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PSO (Position Synchronized Output)

  • Increase throughput
  • Higher accuracy
  • 1, 2, or 3 axis PSO
  • Configurable command pulse train
  • Firing Modes — 1, 2, or 3 Axes

Aerotech Advantages:

Aerotech's Position Synchronized Output (PSO) feature coordinates your motion subsystem with laser firing to produce the highest quality parts and minimize cycle time.

Fully configurable to interface with lasers equipped with externally synchronized control, including CO2, YAG and excimer fibre lasers.

PSO functionality includes several easily programmed operation modes.

When using a fixed frequency laser, this is complicated by the need for constant velocity, severely limiting processing speeds when faced with complicated geometries. Aerotech's PSO solves this problem.

Use to Trigger:

  • Laser firing
  • Camera capture
  • Data acquisition
  • Nondestructive test triggering

Manufacturing Applications:

  • Stents
  • Hermetic welding
  • Turbine blade holes
  • Flat-panel manufacturing
  • Fuel injector drilling
  • Gray-scale marking
  • Material ablation

Array-Based Firing
  • PSO fire points are defined in an array based on calibrated position
  • Pulse train specified with absolute positions
  • Variable pulse width
  • Specify pulse lead, pulse and pulse tail for precise energy delivery
 Array Based Firing

Array Based Firing Array Based Firing


  • Output pulses are constrained inside a user-defined window with the first pulse relative to the edge of the window
  • Excellent for when the processing of a part requires the axes to move beyond the part for settling or direction reversal in applications such as flat-panel manufacturing or fuel injector drilling
Windowing Windowing Windowing

Fixed Distance Firing
  • Single- or multiple-pulse output as a function of up to 3 axes' position feedback
  • Minimizes heat-affected zone in welding, cutting and drilling
  • Outstanding for stent manufacturing, hermetic welding and drilling holes in turbine blades
Fixed Distance Firing Fixed Distance Firing Fixed Distance Firing

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Laser Marking Nmark™ SSaM (Synchronous Scanner and Motion)

Nmark SSaM
  • Expand scanner field of view without sacrificing effective pixel resolution
  • Mark long vectors with one continuous pass
  • Draw large-scale graphics without stitching multiple exposures
  • Mark on a tube or other irregularly shaped object without manually repositioning
  • Industry standard XY2-100 interface supports scanners from multiple vendors
  • Single programming environment for both scanner and servo axes minimizes application complexity
  • Eliminate angular errors
  • Scanner programmed with standard RS-274 G-Code

Wide-Format Bitmaps

By combining a single linear servo axis with a scanner, the Nmark SSaM BroadMark function makes it possible to mark graphics over the entire travel of the linear stage in one continuous operation. This approach removes overlay errors that occur when the image is created through a series of adjacent bitmaps.

Wide-Format Bitmaps

The field of view starts at the left side of the part with the laser marking along this edge. The arrows indicate laser scan direction with red segments indicating the laser ON state.

Wide-Format Bitmaps

As the linear axes move the scanner across the part, the laser advances across the field synchronously.

Wide-Format Bitmaps

When the linear axis reaches the end of the part, the laser is marking along the right side of the field of view and the operation is complete.

Surface Texturing with SSaM
Surface Texturing

Graphic Applications:

  • Bar code
  • Serialization
  • Engraving
  • Character scribing

Vector Applications:

  • Cutting
  • Welding
  • Sealing
  • Ablation
  • Marking

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