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The Ensemble Epaq is Aerotech's next-generation, stand-alone controller for applications from basic laboratory experimentation and general purpose positioning to advanced OEM systems. The Ensemble Epaq provides up to six axes of motion control in one integrated, stand-alone package. The Epaq can daisy chain three extra drives so that the customer can command up to nine axes of coordinated motion under program control. This flexible configuration 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, 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 HMI with Integrated Development Environment (IDE) 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. The Axis Control, Diagnostic screens, and IO Control interfaces are further supplemented by a fully functional Autotuning utility that minimizes startup time and allows optimization of motion axes. System diagnostics are read from the interface. The HMI 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.

Advanced DSP Control The Ensemble Epaq uses the processing power of a 225 MHz double precision, floating-point DSP to offer exceptional performance in a variety of applications, including point-to-point motion, linear and circular interpolation, multiaxis 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 Epaq also offers high-speed position latching capability and optional single-axis PSO (Position Synchronized Output).

Integral Drives Brushless servo, DC brush servo, and microstepping drives are integrated into the Ensemble Epaq's 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, users have excellent flexibility in their system designs. Parameters are easily reconfigured for these various motors and feedback devices, so customers can adapt to changing system needs. Expanded Input/Output Capability Standard interfaces on each Ensemble Epaq include a joystick port, RS-232, Ethernet port, and USB 2.0 port. Standard on each axis of the Ensemble Epaq I/O are one 16-bit ±10 VDC analog input, dedicated home marker input, over-travel limits, Hall inputs for motor commutation, and Estop input.