Aerotech Ensemble Epaq User manual

Revision: 2.04.00
Ensemble EpaqHardware
Manual

Global Technical Support
Go to www.aerotech.com/global-technical-support for information and support about your Aerotech products. The website
provides downloadable resources (such as up-to-date software, product manuals, and Help files), training schedules, and PC-
to-PC remote technical support. You can also complete Product Return (RMA) forms and get information about repairs and
spare or replacement parts. For immediate help, contact a service office or your sales representative. Have your customer
order number available before you call or include it in your email.
United States (World Headquarters)
Phone: [phone]
Fax: [phone]
Email: [e-mail]
101 Zeta Drive
Pittsburgh, PA 15238-2897
www.aerotech.com
United Kingdom Japan
Phone: [phone]
Fax: [phone]
Email: [e-mail]
Phone: [phone]
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Email: [e-mail]
Germany China
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This manual contains proprietary information and may not be reproduced, disclosed, or used in whole or in part without the
express written permission of Aerotech, Inc. Product names mentioned herein are used for identification purposes only and
may be trademarks of their respective companies.
Copyright © 2006-2015, Aerotech, Inc. All rights reserved.

Table of Contents Ensemble Epaq Hardware Manual
Table of Contents
Table of Contents iii
List of Figures v
List of Tables vii
EC Declaration of Conformity ix
Safety Procedures and Warnings xi
Quick Installation Guide xiii
Chapter 1: Introduction 1
1.1. Electrical Specifications 8
1.2. Mechanical Specifications 10
1.3. Environmental Specifications 12
1.4. Drive and Software Compatibility 13
Chapter 2: Installation and Configuration 15
2.1. Electrical Installation 16
2.1.1. ACPower Connections 18
2.1.2. Minimizing Conducted, Radiated, and System Noise 20
2.1.3. I/O and Signal Wiring Requirements 20
2.2. Motor Output Connections 21
2.2.1. Brushless Motor Connections 22
2.2.1.1. Powered Motor Phasing 23
2.2.1.2. Unpowered Motor and Feedback Phasing 25
2.2.2. DC Brush Motor Connections 28
2.2.2.1. DC Brush Motor Phasing 29
2.2.3. Stepper Motor Connections 30
2.2.3.1. Stepper Motor Phasing 31
2.3. Motor Feedback Connections 32
2.3.1. Encoder Interface 34
2.3.1.1. RS-422 Line Driver Encoder (Standard) 35
2.3.1.2. Analog Encoder Interface 36
2.3.1.3. Encoder Phasing 38
2.3.2. Hall-Effect Interface 40
2.3.3. Thermistor Interface 41
2.3.4. End Of Travel Limit Input Interface 42
2.3.4.1. End Of Travel Limit Phasing 44
2.3.5. Encoder Fault Interface 45
2.3.6. Brake Output 46
2.3.7. Analog Input 0 47
2.4. Emergency Stop Sense Input (ESTOP) 48
2.5. Communicating with the Epaq 50
2.5.1. USB Interface 50
2.5.2. Ethernet Interface 51
2.5.3. RS-232 Interface 52
2.5.4. External Drive Interface 54
2.5.5. General Purpose Interface Bus (GPIB) 55
2.6. PC Configuration and Operation Information 56
Chapter 3: -IO Expansion Board 57
3.1. User Power 58
3.2. Brake Power Supply 59
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Ensemble Epaq Hardware Manual Table of Contents
3.2.1. Solid State Relay Specifications 61
3.3. Analog Input 1 62
3.4. Analog Output 1 64
3.5. Opto-Isolated Inputs 65
3.6. Opto-Isolated Outputs 67
3.7. Auxiliary Encoder Channel/PSO Output 70
3.7.1. Position Synchronized Output (PSO)/Laser Firing (Aux Enc Connector) 72
Chapter 4: Standard Interconnection Cables 75
4.1. Joystick Interface 75
4.2. Handwheel Interface 77
Chapter 5: Maintenance 79
5.1. Chassis Control Board 80
5.2. Power Board 82
5.3. Integrated Axis Control Boards (Amplifier) 83
5.4. Integrated Axis I/O Expansion Board (Amplifier) 85
5.5. Fuse Replacement 86
5.6. Preventative Maintenance 87
Appendix A: Warranty and Field Service 89
Appendix B: Revision History 91
Appendix C: Chassis Disassembly 93
Index 95
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Table of Contents Ensemble Epaq Hardware Manual
List of Figures
Figure 1-1: Epaq Networked Digital Drive 1
Figure 1-2: Functional Diagram 7
Figure 1-3: Dimensions 11
Figure 2-1: Power and Control Connections 16
Figure 2-2: Power Switch 16
Figure 2-3: Power Supply Connection 18
Figure 2-4: Motor Power Connections 21
Figure 2-5: Brushless Motor Configuration 22
Figure 2-6: Encoder and Hall Signal Diagnostics 24
Figure 2-7: Motor Phasing Oscilloscope Example 25
Figure 2-8: Hall Phasing with Oscilloscope 26
Figure 2-9: Brushless Motor Phasing Goal 27
Figure 2-10: DC Brush Motor Configuration 28
Figure 2-11: Clockwise Motor Rotation 29
Figure 2-12: MPStepper Motor Configuration 30
Figure 2-13: MLStepper Motor Configuration 30
Figure 2-14: Clockwise Motor Rotation 31
Figure 2-15: Motor Feedback Connections 32
Figure 2-16: Line Driver Encoder Interface 35
Figure 2-17: Analog Encoder Phasing Reference Diagram 36
Figure 2-18: Analog Encoder Interface 37
Figure 2-19: Encoder Phasing Reference Diagram (Standard) 38
Figure 2-20: Position Feedback in the DiagnosticDisplay 39
Figure 2-21: Hall-Effect Inputs 40
Figure 2-22: Thermistor Interface Input 41
Figure 2-23: End of Travel Limit Input Connections 42
Figure 2-24: End of Travel Limit Interface Input 43
Figure 2-25: Limit Input Diagnostic Display 44
Figure 2-26: Encoder Fault Interface Input 45
Figure 2-27: Analog Input 0 47
Figure 2-28: User Interrupt Inputs 48
Figure 2-29: ESTOP Connector and Pin Location 49
Figure 2-30: USB Connector Location 50
Figure 2-31: Ethernet Connector Location 51
Figure 2-32: RS-232 Connector Location 52
Figure 2-33: RS-232/RS-485 Interface 53
Figure 2-34: Epaq Connected to Three Ensemble MPs 54
Figure 2-35: GPIBConnector Location 55
Figure 3-1: Ensemble Epaqwith -IO Option Board 57
Figure 3-2: User Power Connector Location 58
Figure 3-3: Brake Power Supply Connector Location 59
Figure 3-4: Brake Connected to the Feedback Connector 60
Figure 3-5: Brake Connected to Brake Power Supply connector 61
Figure 3-6: Analog Input 1 Connector Location 62
Figure 3-7: Analog Input Typical Connection 63
Figure 3-8: Analog Output 1 Connector 64
Figure 3-9: Inputs Connected to a Current Sourcing Device 66
Figure 3-10: Inputs Connected to a Current Sinking Device 66
Figure 3-11: Outputs Connected in Current Sourcing Mode 68
Figure 3-12: Outputs Connected in Current Sinking Mode 69
Figure 3-13: Connector and Pin Locations 70
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Ensemble Epaq Hardware Manual Table of Contents
Figure 3-14: Auxiliary Encoder Channel 71
Figure 3-15: PSOInterface 73
Figure 4-1: Joystick Interface 75
Figure 4-2: Joystick Connector Location 76
Figure 4-3: Handwheel Interconnection 77
Figure 5-1: Control Board Assembly 80
Figure 5-2: Power Board Assembly 82
Figure 5-3: MP Board Assembly 83
Figure 5-4: ML Board Assembly 84
Figure 5-5: -IO Option Board Assembly 85
Figure C-1: Chassis Disassembly 94
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Table of Contents Ensemble Epaq Hardware Manual
List of Tables
Table 1-1: FeatureSummary 2
Table 1-2: Configurations and Options 4
Table 1-3: Chassis Electrical Specifications 8
Table 1-4: Servo Amplifier Electrical Specifications 9
Table 1-5: Physical Specifications 10
Table 1-6: Ensemble Drive and Software Compatibility 13
Table 2-1: Main ACPower Input Voltages and Current Requirements 19
Table 2-2: Ferrite Bead Part Numbers 20
Table 2-3: Motor Power Output Connections 21
Table 2-4: TerminalBlock Mating Connector 21
Table 2-5: Wire Colors for Aerotech Supplied Cables (Brushless) 22
Table 2-6: Wire Colors for Aerotech Supplied Cables (DCBrush) 28
Table 2-7: Wire Colors for Aerotech Supplied Cables (Stepper) 30
Table 2-8: Motor Feedback Connector Pin Assignment 33
Table 2-9: Motor Feedback Mating Connector 33
Table 2-10: Encoder Interface Pin Assignment 34
Table 2-11: Analog Encoder Specifications 36
Table 2-12: Hall-Effect Feedback Interface Pin Assignment 40
Table 2-13: Thermistor Interface Pin Assignment 41
Table 2-14: End of Travel Limit Input Interface Pin Assignment 42
Table 2-15: Encoder Fault Interface Pin Assignment 45
Table 2-16: Brake Output Pin Assignment 46
Table 2-17: Analog Input0 Pin Assignment 47
Table 2-18: Electrical Noise Suppression Devices 49
Table 2-19: RS-232 Connector Pin Assignment 52
Table 2-20: Aeronet Cable Part Numbers 54
Table 3-1: User Power Connector Pin Assignment 58
Table 3-2: Brake Power Mating Connector 58
Table 3-3: Brake Power Connector Pin Assignment 59
Table 3-4: Brake Power Mating Connector 59
Table 3-5: Motor Feedback Connector Brake Output Connector Pin Assignment 60
Table 3-6: Relay Specifications 61
Table 3-7: Analog Inputs Connector Pin Assignment 63
Table 3-8: TerminalBlock Mating Connector 63
Table 3-9: Analog Output Connector Pin Assignment 64
Table 3-10: TerminalBlock Mating Connector 64
Table 3-11: Digital Input Specifications 65
Table 3-12: Port 1 Opto-Isolated Input Connector Pin Assignment 65
Table 3-13: Opto-Isolated Input Mating Connector 65
Table 3-14: Port 1 Opto-Isolated Output Connector Pin Assignment 67
Table 3-15: Opto-Isolated Output Mating Connector 67
Table 3-16: Output Specifications 68
Table 3-17: PSOOutput Pin Assignment (Aux Enc) 72
Table 3-18: PSO Output Sources 72
Table 4-1: Joystick Connector Pin Assignment 76
Table 5-1: Troubleshooting 79
Table 5-2: LEDDescription 79
Table 5-3: Control Board Jumper Configuration 81
Table 5-4: Serial Communication Mode Jumper Select 81
Table 5-5: Fuse Information 86
Table 5-6: Preventative Maintenance 87
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Declaration of Conformity Ensemble Epaq Hardware Manual
EC Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2897
USA
Product Epaq
Model/Types All
This is to certify that the aforementioned product is in accordance with the applicable requirements of the
following Directive(s):
2006/95/EC Low Voltage Directive
2006/42/EC Machinery Directive
2011/65/EU RoHS2 Directive
and has been designed to be in conformity with the applicable requirements of the following documents
when installed and used in accordance with the manufacturer’s supplied installation instructions.
EN 61010-1 Safety requirements for electrical equipment
EN ISO 13849-1 & -2 Safety related parts of control systems
Name
/ Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
Date June 3, 2015
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Electrical Safety Ensemble Epaq
Safety Procedures and Warnings
Read this manual in its entirety before installing, operating, or servicing this product. If you do not understand
the information contained herein, contact an Aerotech representative before proceeding. Strictly adhere to
the statements given in this section and other handling, use, and operational information given throughout
the manual to avoid injury to you and damage to the equipment.
The following statements apply wherever the Warning or Danger symbol appears within this manual. Failure
to observe these precautions could result in serious injury to those individuals performing the procedures
and/or damage to the equipment.
D A N G E R : This product contains potentially lethal voltages. To reduce the possibility of
electrical shock, bodily injury, or death the following precautions must be followed.
1. Disconnect electrical power before making any mechanical adjustments or performing
maintenance.
2. Disconnect electrical power before performing any wiring.
3. Residual voltages greater than 60V may be present inside Ensemble Epaq chassis for
longer than 10 seconds after power has been disconnected.
4. To minimize the possibility of electrical shock and bodily injury, extreme care must be
exercised when any electrical circuits are in use. Suitable precautions and protection must
be provided to warn and prevent persons from making contact with live circuits.
5. Do not connect or disconnect any electrical components or connecting cables while
connected to a power source.
6. Make sure the Ensemble Epaq and all components are properly grounded in accordance
with local electrical safety requirements.
7. Operator safeguarding requirements must be addressed during final integration of the
product.
W A R N I N G : To minimize the possibility of electrical shock, bodily injury or death the
following precautions must be followed.
1. Use of this equipment in ways other than described by this manual can cause personal
injury or equipment damage.
2. Moving parts can cause crushing or shearing injuries. Access to all stage and motor parts
must be restricted while connected to a power source.
3. Cables can pose a tripping hazard. Securely mount and position all system cables to avoid
potential hazards.
4. Do not expose the Ensemble Epaqto environments or conditions outside of the listed
specifications. Exceeding environmental or operating specifications can cause damage to
the equipment.
5. If the Ensemble Epaq is used in a manner not specified by the manufacturer, the protection
provided by the Ensemble Epaq can be impaired and result in damage, shock, injury, or
death.
6. Operators must be trained before operating this equipment.
7. All service and maintenance must be performed by qualified personnel.
8. The Ensemble Epaq is intended for light industrial manufacturing or laboratory use. Use of
the Ensemble Epaq for unintended applications can result in injury and damage to the
equipment.
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Ensemble Epaq Electrical Safety
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Quick Installation Guide Ensemble Epaq Hardware Manual
Quick Installation Guide
This chapter describes the order in which connections and settings should typically be made to the Epaq.
There are four standard connections that must be made to the Epaq.
DANGER!
High Voltage
USB
GPIB
ESTOP
EXT DRIVE
J100
ENET
JOY-
STICK
RS232
AXIS 1
BRAKE PWR
+5V/GND
AUX ENC
AIN/AOUT
OPTO-IN
FEEDBACK
MOTOR
OPTO-
OUT
ENA CTL
MRK
1
4
1
1
4
10
1
A
B
C10
IN POS
AXIS 2
BRAKE PWR
+5V/GND
AUX ENC
AIN/AOUT
OPTO-IN
FEEDBACK
MOTOR
OPTO-
OUT
ENA CTL
MRK
1
4
1
1
4
10
1
A
B
C10
IN POS
AXIS 3
BRAKE PWR
+5V/GND
AUX ENC
AIN/AOUT
OPTO-IN
FEEDBACK
MOTOR
OPTO-
OUT
ENA CTL
MRK
1
4
1
1
4
10
1
A
B
C10
IN POS
AXIS 4
BRAKE PWR
+5V/GND
AUX ENC
AIN/AOUT
OPTO-IN
FEEDBACK
MOTOR
OPTO-
OUT
ENA CTL
MRK
1
4
1
1
4
10
1
A
B
C10
IN POS
AXIS 5
BRAKE PWR
+5V/GND
AUX ENC
AIN/AOUT
OPTO-IN
FEEDBACK
MOTOR
OPTO-
OUT
ENA CTL
MRK
1
4
1
1
4
10
1
A
B
C10
IN POS
AXIS 6
BRAKE PWR
+5V/GND
AUX ENC
AIN/AOUT
OPTO-IN
FEEDBACK
MOTOR
OPTO-
OUT
ENA CTL
MRK
1
4
1
1
4
10
1
A
B
C10
IN POS
Motor Power
Motor Feedback
USB
Ethernet 4
2
3
From the Motor to the Motor Power input
3
From the Motor to the Motor Feedback input (depending on the type of motor).
4
From the power source to the AC Power input
1
From the PC to the USB or Ethernet input
2
AC Power
1
Topic Section
ACPower Section 2.1.1. ACPower Connections
PCCommunication Section 2.5. Communicating with the Epaq
Motor Power Section 2.2. Motor Output Connections
Motor Feedback Section 2.3. Motor Feedback Connections
Figure 1: Quick Start Connections
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Ensemble Epaq Hardware Manual Quick Installation Guide
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Introduction Ensemble Epaq Hardware Manual
Chapter 1: Introduction
Aerotech’s Epaq is a 3U height, 19” wide, rack-mountable, intelligent drive chassis, capable of powering up
to nine axes of motion. Six axes of motion control are available in one integrated, stand-alone package and
can be expanded to nine axes of motion control externally. This flexible configuration style allows users to
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 (assuming a sine-wave encoder input signal), including the ability to change
interpolation (multiplication) values through software.
DANGER!
High Voltage
USB
GPIB
ESTOP
EXT DRIVE
J100
ENET
JOY-
STICK
RS232
AXIS 1
BRAKE PWR
+5V/GND
AUX ENC
AIN/AOUT
OPTO-IN
FEEDBACK
MOTOR
OPTO-
OUT
ENA CTL
MRK
1
4
1
1
4
10
1
A
B
C10
IN POS
AXIS 2
BRAKE PWR
+5V/GND
AUX ENC
AIN/AOUT
OPTO-IN
FEEDBACK
MOTOR
OPTO-
OUT
ENA CTL
MRK
1
4
1
1
4
10
1
A
B
C10
IN POS
AXIS 3
BRAKE PWR
+5V/GND
AUX ENC
AIN/AOUT
OPTO-IN
FEEDBACK
MOTOR
OPTO-
OUT
ENA CTL
MRK
1
4
1
1
4
10
1
A
B
C10
IN POS
AXIS 4
BRAKE PWR
+5V/GND
AUX ENC
AIN/AOUT
OPTO-IN
FEEDBACK
MOTOR
OPTO-
OUT
ENA CTL
MRK
1
4
1
1
4
10
1
A
B
C10
IN POS
AXIS 5
BRAKE PWR
+5V/GND
AUX ENC
AIN/AOUT
OPTO-IN
FEEDBACK
MOTOR
OPTO-
OUT
ENA CTL
MRK
1
4
1
1
4
10
1
A
B
C10
IN POS
AXIS 6
BRAKE PWR
+5V/GND
AUX ENC
AIN/AOUT
OPTO-IN
FEEDBACK
MOTOR
OPTO-
OUT
ENA CTL
MRK
1
4
1
1
4
10
1
A
B
C10
IN POS
1
2
3
4
9
10
11
12
13
14
15
16
5
6
7
8
Control Board
1. USB connector
2. Ethernet connector
3. Joystick 15-pin D-style connector
4. RS-232 9-pin D-style connector
Options
5. GPIB IEEE-488 Connector (talker/listener)
6. ESTOP (Emergency Stop) 9-pin D-style connector
7. External Drive Connector
8. J100 / additional optional RS-232 connector
Control Board
and Options
Axis 1 Axes 2 through 6 (Optional)
Axis 1
9. LED Status Display
10. Feedback 25-pin D-style connector
11. Motor Connector (terminal block)
Axis 1 I/O (standard on Axis 1)
12. Auxiliary Encoder 9-pin D-style connector
13. Brake Power (terminal block)
14. Analog Input/Output (terminal block)
15. Opto-Isolator Input (terminal block)
16. Opto-Isolator Output (terminal block)
Additional Axes
17. Axis 2
18. Axis 3
19. Axis 4
20. Axis 5
21. Axis 6
In this example:
This Epaq is configured for 5 axes
Axis 5 does not support the -IO option
Axes 2 through 6 are optional.
The I/O board is optional on axes
2 through 6.
AC Power
Input
17 18 19 20 21
POWER
Directional Keypad
LCD Screen
ESTOP
Button
Power
Switch
Power LED
Figure 1-1: Epaq Networked Digital Drive
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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: FeatureSummary
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)
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Introduction Ensemble Epaq Hardware Manual
Feature Details
Command Execution
Modes
AUTO Program runs to completion upon startup
SINGLE Full debug capability to step, step over, step into individual
program lines
IMMEDIATE Commands are executed upon entry
JOG Axes controlled with jog pad on front panel or optional
joystick
REMOTE Command execution controlled by remote host through
Ethernet, RS-232, or IEEE-488 communications port via
ASCII strings
Input/Output Standard The chassis includes: ESTOP, RS-232, GPIB Each
amplifier axis includes: CW, CCW, and Home limits; DIR,
CLK, Hall effects, amplifier thermistor; 1 channel of 16-bit
A/D per axis (±10 VDC)
Optional IO Board
(can be added to
each amplifier axis)
Eight opto-inputs with the IO board option; eight opto
outputs with the IO board option; sinking and sourcing
selection is available through the parameters; 5-24 VDC
can be used with any IO pins; single axis PSO (each axis
with optional IO; one additional 12-bit (±10 VDC) input and
one additional 16-bit (±5 VDC) output; brake relay: 0.5
amp solid-state relay available with option board;
secondary TTL RS-422 auxiliary encoder input; position
latch with 50 ns position capture latency
Encoder Inputs TTL RS-422 standard, and on optional IO auxiliary encoder input; optional
amplified sine encoder input on primary encoder channel; programmable
resolution up to 1024 times the analog encoder resolution; 10 MHz TTL RS-422
square wave primary or auxiliary encoder; 250 kHz amplified sine primary (with
optional onboard encoder multiplier board)
Additional Interfaces Serial 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 (second
RS-232 port optional)
Machine Control ESTOP discrete input to stop all axes
Display Backlit 8 x 40 character LCD
Keypad 5-key input pad
Other IO Parallel One optional GPIB (IEEE-488)
Power Output
Capability
600 watt, 54 VDC power supply for bus power to axis drives; optional 24 VDC
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Ensemble Epaq Hardware Manual Introduction
Table 1-2: Configurations and Options
Rack or Desk-Mount Options
-S Desktop Epaq (contains desktop related components)
-R Rack-mount Epaq (contains rack-mount related components)
Standard or Blank Front Panel Options
-FPD Standard front panel (with keypad and display )
-FPDE Standard front panel (with keypad, display, and ESTOP switch)
-FPB Blank front panel (without display or keypad)
-FPBE Blank front panel with ESTOP switch (without display or keypad)
Bus Power Supply [Option uses transformer]
/XYY X is the line voltage (X = A, B, C, or D)
A 115 VACInput
B 230 VACInput
C 100 VACInput
D 200 VACInput
YYis the bus voltage
10B ±10 VDC supply
20B ±20 VDC supply
30B ±30 VDC supply
40 40 V supply for up to 6 axes; required with /ESTOP0, /ESTOP1, /BRAKE-x
40B ±40 VDC supply
40LP 40 V low power supply for up to 3 axes; without /ESTOPx or /BRAKE-x
80 80 V supply for up to 6 axes; required with /ESTOP0, /ESTOP1, /BRAKE-x
80LP 80 V low power supply for up to 6 axes; without /ESTOPx or /BRAKE-x
Obsolete Bus Power Supply (as of September 2008)
/24LP* 24 V low power supply for up to 3 axes; without /ESTOPx or /BRAKE-x
/24* 24 V supply for up to 6 axes; required with /ESTOP0, /ESTOP1, /BRAKE-x
/48* 48 V supply for up to 6 axes; required with /ESTOP0, /ESTOP1, /BRAKE-x
/54* 54 V supply for up to 6 axes; required with /ESTOP0, /ESTOP1, /BRAKE-x
/90* 90 V supply for up to 6 axes; not compatible with /ESTOP and /BRAKE-x (if brake
control is needed, an external BRAKE24-2 must be used)
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Introduction Ensemble Epaq Hardware Manual
Axis 1 Amplifier Options
/1-MP10I Digital PWM, 10 A peak, 5 A continuous with I/O
/1-MP10I Digital PWM, 10 A peak, 5 A continuous with I/O
/1-MP10MI Digital PWM, 10 A peak, 5 A continuous with 4096X MXU with I/O
/1-MP10-HBI Digital PWM, 10 A peak, 5 A continuous with I/O andhalf bus option
/1-MP10MI-HB Digital PWM, 10 A peak, 5 A continuous with 4096X MXU, I/O, andhalf bus option
/1-ML10I Digital Linear, 10 A peak, 5 A continuous with I/O
/1-ML10MI Digital Linear, 10 A peak, 5 A continuous with 4096X MXU with I/O
/1-ML10HI Digital Linear, 10 A peak, 5 A continuous with 65536X MXH with I/O
NOTE:The -HB option is a half bus option. It is only available in an Epaq that has PWM (MP) and linear
(ML) drives. For example, if the -HB option is ordered with the -40B bus, the MP drive(s) will be powered
from half the bus (common to +40, a 40 VDC bus).
Axis 2-6 Amplifier Options
/x-MP10 Digital PWM, 10 A peak, 5 A continuous
/x-MP10I Digital PWM, 10 A peak, 5 A continuous with I/O
/x-MP10M Digital PWM, 10 A peak, 5 A continuous with 4096X MXU
/x-MP10MI Digital PWM, 10 A peak, 5 A continuous with 4096X MXU with I/O
/x-MP10-HB Digital PWM, 10 A peak, 5 A continuous with half bus option
/x-MP10-HBI Digital PWM, 10 A peak, 5 A continuous with I/O andhalf bus option
/x-MP10M-HB Digital PWM, 10 A peak, 5 A continuous with 4096X MXU andhalf bus option
/x-MP10MI-HB Digital PWM, 10 A peak, 5 A continuous with 4096X MXU, I/O, andhalf bus option
/x-ML10 Digital Linear, 10 A peak, 5 A continuous
/x-ML10I Digital Linear, 10 A peak, 5 A continuous with I/O
/x-ML10M Digital Linear, 10 A peak, 5 A continuous with 4096X MXU
/x-ML10MI Digital Linear, 10 A peak, 5 A continuous with 4096X MXU with I/O
/x-ML10H Digital Linear, 10 A peak, 5 A continuous with 65536X MXH
/x-ML10HI Digital Linear, 10 A peak, 5 A continuous with 65536X MXH with I/O
/x-BLANK No amplifier
/x-BLANKW No amplifier, pre-wired only
*where x represents the axis number
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Ensemble Epaq Hardware Manual Introduction
Line Cord Options
/ENGLAND U.K. line cord
/GERMANY German line cord
/ISRAEL Israel line cord
/AUSTRALIA Australia line cord
/INDIA India line cord
/US-115VAC U.S. 115 VAC line cord
/US-230VAC U.S. 230 VAC line cord
/NO-LINECORD No line cord
Brake Options
/BRAKE-1 Axis 1 wired for 24 V/1 A brake (/24LP not allowed )
/BRAKE-2 Axis 2 wired for 24 V/1 A brake (amp must have “I” or “MI” option, /24LP not allowed)
/BRAKE-3 Axis 3 wired for 24 V/1 A brake (amp must have “I” or “MI” option, /24LP not allowed)
/BRAKE-4 Axis 4 wired for 24 V/1 A brake (amp must have “I” or “MI” option, /24LP not allowed)
/BRAKE-5 Axis 5 wired for 24 V/1 A brake (amp must have “I” or “MI” option, /24LP not allowed)
/BRAKE-6 Axis 6 wired for 24 V/1 A brake (amp must have “I” or “MI” option, /24LP not allowed)
Software Options
5AX Five Axis Contouring supplies the ability to coordinate motion on five or more axes.
EIP Aerotech's EtherNet/IP™ option interfaces with Aerotech Ensemble drives and the
various ODVA Common Industrial Protocol (CIP™) objects that are used.
DCT The Dynamic Controls Toolbox contains a collection of controller-level algorithms
that are designed to improve machine positioning, increase throughput, and reduce
cycle times.
ETM The Enhanced Throughput Module improves machine throughput by measuring base
or frame vibration directly and using this information in a servo control algorithm.
Options (multiple selections allowable)
/ESTOP0 Disconnect AC to motor power supply; requires -FPDE or -FPBE options, and /24 or
/48 or /54 options
/ESTOP1 Disconnect AC to motor power supply using power relay; user connection via rear
panel 15D 24V connector; requires /24, /48, or /54 option
/GPIB IEEE-488 GPIB interface (talker/listener)
/EXTAMP External amplifier interface
/RS232-1 RS-232 port (additional RS-232 port at the J100 location)
6 Chapter 1 www.aerotech.com