Motion Controllers
Ensemble QLAB

Ensemble® QLABStand-Alone, 1-4 Axes Piezo Motion Controller
Control 1 to 4 axes of piezo nanopositioning
stages in open- or closed-loop operation
Configurable open-loop and closed-loop control
in one controller platform
High-precision 20-bit sensor resolution forcapacitive sensor feedback in closed-loop
operation

The Ensemble QLAB controls up to four axes ofpiezo stages in open-loop or closed-loop mode.

Configurable, high-resolution analog input forexternal feedback sensor integration orcommand generation
Advanced control features such as learning
control, harmonic cancellation and commandshaping improve tracking error and overall
process throughput
Touch screen with intuitive menu-driven
interface for quick and easy access to system
functionality
Ethernet and USB 2.0 communication interfaces
Advanced Windows®-based remote diagnostics,
tuning and programming interface software
Program in AeroBasic using Aerotech’s IDE orcreate custom remote interfaces with Microsoft.NET including C#, VB.NET, Managed C++,LabVIEW®, MATLAB®, EPICS, or TANGOThe Ensemble QLAB is a high-performance
nanopositioning piezo stage controller for 1 to 4 axes ofmotion. The flexible controller platform allows userconfigurable open-loop and closed-loop operation on a peraxis basis. Simple software commands allow the user toswitch between open-loop and closed-loop if an axis isconfigured for closed-loop mode.

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Using the processing power of a dual-core 456 MHz,
double precision, floating-point DSP, the QLAB provides
exceptional performance for a wide variety of applications.
The front panel interface allows an operator to quickly
execute simple operations such as jogging and moving to
fixed positions. For more complex operations, theEnsemble QLAB has onboard memory for storing programs
that can be accessed from the front panel or through remotecontrol.

High-Resolution and Optional Ultra-Precise Feedback
Using the latest technology and high-resolution A/D andD/A converters, the QLAB enables sub-nanometer
positioning resolution at high bandwidths. With theoptional integrated capacitance sensor, the QLAB provides
low-noise performance over the full-travel range. In closedloop mode, linearity better than 0.01% over the full-travel
range is achieved using a proprietary linearization scheme.

Precision I/OIn addition to the four optically-isolated digital inputs, twohigh-speed digital inputs and four optically-isolated digital
outputs, the Ensemble QLAB is equipped with four analog
inputs and four analog outputs. The analog inputs can be
programmatically configured to accept an external feedback
sensor or position command. The analog outputs can beused for monitoring position or voltage output.

Advanced Software and Control Features
The Ensemble QLAB uses advanced PID servo loops withadvanced feedforward and multiple integrators coupledwith eight programmable filters to supply the user with allnecessary tools needed to optimize motion performance.

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QLAB DESCRIPTION
Motion Controllers

Additional software options such as the Dynamic Controls
Toolbox and Motion Designer packages make available ahost of advanced, yet easy-to-use, tools such as Learning
Control, Harmonic Cancellation, Command Shaping, andCross-Axis Feedforward to improve tracking errors andprovide faster step-and-settle times.

Multitasking Capability
Up to four programs can run simultaneously on theEnsemble QLAB, allowing for easy partitioning of complex
operations. One task could be used for motion while theremaining tasks are used for process control, or thecontroller could be configured to operate four separate
programs controlling four piezo stages.

In addition to the front key-panel, the Ensemble QLAB
comes equipped with a full color, touch-enabled LCD
display. An intuitive tabbed interface provides single-press
access to all setup and operation screens.

Powerful Programming Functionality
The Ensemble QLAB is programmed in an easily readable
BASIC-like syntax, off-line, with a graphical user interface
in Windows®, featuring an intuitive Program Editor,Variable Output window, Compiler Output window andTask State monitor. After the programs are developed andtested they can be downloaded and stored on the controller
for future use. Alternatively, the user can continue toprogram and operate the QLAB from a host PC, if sodesired.

Software Drivers
The Ensemble QLAB includes full compatibility with both
EPICS and TANGO distributed control protocols. Precoded LabVIEW® VIs, AeroBasic™ programming
functionality, MATLAB® library, .NET tools for C#,
VB.NET, and managed C++ or C make the Ensemble eveneasier to use. See the Ensemble Control home page fordetailed information on software capabilities and orderingoptions.

Automatic Parameter Configuration
Aerotech’s piezo stages all include a “FlashConfig” featurethat stores all of the parametric information required tooperate the stage. The stage is automatically identified andall operational parameters including axis calibration data
are uploaded into the Ensemble QLAB, ensuring safe,
accurate and true “plug-and-play” operation.

Ensemble QLAB “Main” screen.

Ensemble QLAB “Position” screen.

Ensemble QLAB “I/O” screen.

Ensemble QLAB “Command” screen.

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Ensemble QLAB

Touch Screen Interface

2Ensemble QLAB

Motion Controllers

Ensemble QLAB SPECIFICATIONS
FeatureDescription

Number of Axes

1 to 4

Processor

Dual-core 456 MHz, Double Precision, Floating Point DSP

Power Supply

100-240 VAC; 50/60 Hz

Voltage Output-30 to +150 V

Sensor Type

Open-Loop or Capacitive Sensor (Closed Loop)

Sensor Resolution

20 BitContinuous Power Output

20 Watts per Channel; 80 Watts Total

Peak Current Output

300 mA per ChannelContinuous Current Output

130 mA per Channel

Digital Inputs

Four Optically Isolated; Two High-Speed; One ESTOP

Digital Outputs

Four Optically Isolated

Analog Inputs

Four 18-Bit Effective; Configurable for External Feedback or External Command Input

Analog Outputs

Four 16-Bit; Configurable for Position or Voltage Monitoring

Communication Interfaces

10/100 Base T Ethernet; USB 2.0

Expansion Interface

USB 1.1

Servo Loop Update

20 kHzProgramming Environment
Operating System Requirements for
Remote Programming and Diagnostic Tools

Multi-Tasking AeroBasic
Windows 7

pk-pk sinusoidal voltage with a DC offset of 60V
continuous current = 130 mA; peak current = 300 mA

QLAB sinusoidal peak-peak voltage limits (with a 60VDCoffset) for various piezo stack capacitances.

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Ensemble QLAB DIMENSIONS
Motion Controllers
Ensemble QLAB

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4Ordering Example
Ensemble QLAB

-A

-1AX

-MXC1-PSO-US115VAC

SeriesLine
Voltage

Number ofAxes

Feedback TypePSO
OutputLine Cord-PSO-ENGLAND-GERMANY-ISRAEL-INDIA-AUSTRALIA-US115VAC-US230VAC-NOLINECORD

Ensemble QLAB

Motion Controllers

Ensemble QLAB ORDERING INFORMATION

Ensemble QLAB

-A
-B
-C-D

-1AX-2AX-3AX-4AX-MXC1-MXC2-MXC3-MXC4Ensemble QLAB Multi-Axis Piezo Motion Controller
Ensemble QLAB

1-4 axis desktop, stand-alone, piezo nanopositioning stage motion controller. Features include:• Open loop or closed-loop operation.
• High-precision 20-bit sensor resolution for capacitance sensor feedback in closed-loop.
• Configurable input/outputs; four opto-isolated inputs, two high-speed digital inputs, four opto-isolated outputs,
four 18-bit effective analog inputs, and four 16-bit analog outputs.
• 10/100 base T Ethernet port; one USB 2.0 port; one USB 1.1 port

Line Voltage (Required)-A-B-C-D

115 VAC input
230 VAC input
100 VAC input
200/208 VAC input

Number of Axes (Required)-1AX-2AX-3AX-4AX

Configured for 1 axis
Configured for 2 axes
Configured for 3 axes
Configured for 4 axes

Note: If the Feedback Type is not selected, all axes will operate in open-loop mode.

Feedback Type (Optional)-MXC1-MXC2-MXC3-MXC4

Configured for 1 axis of capacitance sensor feedback
Configured for 2 axes of capacitance sensor feedbackConfigured for 3 axes of capacitance sensor feedback
Configured for 4 axes of capacitance sensor feedback

Note: All closed-loop channels must occur on the controller axis count before the open-loop channels. For example, if two axes of closed-loop and one axisof open-loop are desired, three axes are selected (-3AX) and –MXC2 is selected, which will give channels 1 and 2 as cap feedback and channel 3 as openloop.

PSO Output (Optional)-PSO

Single-axis Position Synchronized Output

Line Cord (required)-ENGLAND-GERMANY-ISRAEL-INDIA-AUSTRALIA-US115VAC-US230VAC-NOLINECORD

5UK compatible line cord
German compatible line cord
Israel compatible line cord
India compatible line cord
Australia compatible line cord
US 115 VAC line cord
US 230 VAC line cord
No line cordwww.aerotech.com

Ensemble QLAB ORDERING INFORMATION
Motion Controllers

Ensemble Software Options-DYNAMIC CONTROLS TOOLBOX-MOTION DESIGNER-LABVIEWThe Dynamic Controls Toolbox provides control algorithms that increase system
performance such as settle time, accuracy, in-position stability and/or velocity stability.
Motion Designer is used to graphically generate and edit motion profiles that execute on
the controller, providing the ability to import, run and evaluate motion profiles(trajectories). Included in the Motion Designer software is learning control that reduces
tracking errors by as much as 1000 times.
LabVIEW® VI samples

Ensemble QLAB

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