Motion Controllers
Ensemble Linear

Ensemble™ Linear Series
Networked, Panel-Mount Drives – Linear
Network drives through a high-speed serialinterface 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 circularinterpolation, electronic gearing, and velocity
profiling
Program in AeroBasicTM, Microsoft .NET (C#,VB.NET, C, and Managed C++), LabVIEW®, andMATLAB®
Remotely command drives over Ethernet, USB,
or RS-232 with an ASCII interface available forboth Windows® and non-Windows® programs(including Linux)
Diagnose, tune, and program through anadvanced Windows-based interface
NRTL safety certification, CE approved
Fully compatible with EPICS set of softwaretools and applications, making Ensemble ideal
for use in synchrotron and general laboratory
facilities
Allen-Bradley EtherNet/IPTM interface provides
full integration with the Ensemble; program theEnsemble directly from RSLogixTM 5000
Output power range of 10 or 20 A peak with ±10
to ±80 VDC bus

1

Ensemble HLeEnsemble CL

Ensemble ML

The EnsembleTM 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 experimentationand general-purpose positioning to advanced OEM systems.

Versatile, Flexible, Stand-Alone Multi-Axis Control
Network multiple Ensemble HLe/CL/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 thesame positioning system using a common programming andcontrol 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 canbe modified and used in customer applications are includedin the online Help. Pre-coded LabVIEW® VIs, AeroBasic™
programming functionality, MATLAB® library, .NET tools
for C#, VB.NET, and managed C++ or C make theEnsemble even easier to use. See the Ensemble Control
home page for detailed information on software capabilities
and ordering options.

www.aerotech.com

Ensemble HLe/CL/ML DESCRIPTION

Enhancing a Legacy of Success
Ensemble carries forward a legacy of success thatoriginated in Aerotech’s A3200 and SoloistTM controllers.
Enhanced capabilities make it an obvious choice foraggressive motion control applications. The Ensemble
motion control architecture builds upon the SoloistTM
intuitive graphical user interface, while improving multiaxis control through advanced features.

Allen-Bradley Interface
Combine proven PLC with proven motion control for easierintegration, startup, and maintenance of medium- and highend automation projects. The Aerotech EtherNet/IP™
interface enables AB PLCs (MicroLogix, CompactLogix™,
or ControlLogix) to be integrated directly with theEnsemble. 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 yourapplication needs.

Ensemble Linear

The processing power of a 225 MHz double precision,
floating-point DSP supplies exceptional performance in avariety of applications including point-to-point motion,
linear and circular interpolation, multi-axis error correction,
2D error mapping, direct commutation of linear and rotarybrushless servomotors, and on-board servo autotuning.
High-speed interrupts and data logging capabilities provide
a real-time link to external systems. The Ensemble
HLe/CL/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 criticaloperations.

Motion Controllers

Advanced DSP Control

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.

10-Axis, Stand-Alone,
Panel-Mount Drives
CL
CP

CP

CP

CL

CP
MP

MP

MP

MP

ENET,
USB,
RS-232

Stepper Motors

Ensemble IDE.

www.aerotech.com

DC Brush Motors

BrushlessServomotors

Ensemble drives shown in a ten-axis configuration.

2

Ensemble Linear

Motion Controllers

Ensemble HPe/HLe/CP/CL/MP COMPARISON

Ensemble HLe
Width: 206.9 mm
Height: 234.3 mm

Ensemble ML
Width: 41.1 mm
Height: 141.2 mm

Ensemble CL
Width: 103.7 mm
Height: 265.2 mm

Ensemble Comparison Chart

Ensemble HLeEnsemble CL

Ensemble ML

PC Interface

Ethernet TCP/IP or USB

Ethernet TCP/IP or USB

Enternet TCP/IP

Current Output, Peak(1)10-20 A(2)10 A(2)10 A(2)Current Output, Continuous(1)5-10 A(2)

5 A(2)

5 A(2)±40-80 VDC(3)±40 VDC(3)±40 VDC(3)LinearBus Voltage

LinearLinearMotor Supply Voltage

2 Phase AC

2 Phase AC(4)DCStandard I/O

4-DO/6-DI
1-AO/1-AI

4-DO/6-DI
1-AO/1-AI

1-AI

16-DO/16-DI
3-AO/3-AI

16-DO/16-DI
1-AO/1-AI

8-DO/8-DI
1-AO/1-AI

Single Axis PSO(6)

Yes

Yes

Yes

Dual Axis PSO(6)

Yes

No

No

Triple Axis PSO(6)

Yes

No

No

Ethernet Capable for Third-Party I/O

Yes

No

No

Amplifier Type

(5)

Expansion I/O(5) (Additional to Base I/O)

Notes:
1. Peak value of the sine wave; rms current for AC motors is 0.707 * Apk.
2. Load dependent.
3. Output voltage is load dependent.
4. External transformer required.
5. DO = Digital Output; DI = Digital Input; AO = Analog Output; AI = Analog Input.
6. PSO not available on Ensemble CL/ML when using integral MXU.

3

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Ensemble HLe SPECIFICATIONS
Units

10-40

10-80

Brush, Brushless, Stepper, Voice Coil

Motor Style
Motor Supply

20-40

VAC

115/230; 50/60 Hz; Factory Configured

VAC

Bus Voltage(2)

VDC

±40

85-240; 50/60 Hz
±40

±80

Peak Output Current (1 sec)(3,4)

Apk

10

20

10

Continuous Output Current(3,4)

Apk

5

10

5

Digital Inputs—

Digital Outputs—

4 Optically-Isolated

Analog Inputs—

One 16-bit Differential; ±10 V

Analog Outputs—

6 Optically-Isolated (2 High Speed)

One 16-bit Single-Ended
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 Axis I/O on Feedback
Connector
Dedicated I/O on Auxiliary Feedback
Connector

sin, cos, mkr for Aux Enc; Aux Enc can be used for PSO Output—

16/16 Digital Opto-Isolated; 3 Analog In (±10 V, 16-bit Differential); 3 Analog Out (±10 V, 16-bit)
Yes (50 ns Latency)

High Speed Data Capture
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
Yes

Can Output Multiplied Encoder
Can Output Square Wave Encoder

Yes

Primary Encoder Input Frequency

32 MHz Square Wave Standard; 500 kHz Sine Wave (MXH)
32 MHz Square Wave

Secondary Encoder Input Frequency
Encoder Multiplication——

Optional; 1 or 2 Channel; 16-bit
N/AInternal Shunt Resistor

N/A

External Shunt
Ethernet

Up to x65536 with Quadrature Output (MXH)
Renishaw Resolute BiSS; EnDat 2.1; EnDat 2.2

Absolute Encoder
Resolver Interface—

Optional

USB

No

RS-232Yes

FireWireNo

Fieldbus

Modbus TCP; Ethernet/IP

Current Loop Update RatekHz

Servo Loop Update Rate

kHz

10

Power Amplifier Bandwidth

kHz

Selectable Through Software

Minimum Load InductancemH

0Operating Temperature°C

0 to 50

Storage Temperature
WeightEnsemble Linear

Control Supply(1)I/O Expansion Board(5)Motion Controllers

Ensemble HLe

20°C-30 to 85

kg (lb)10.36 (22.8)

Notes:
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 IO option.
6. Requires external relay to remove motor supply power.

www.aerotech.com

4

Ensemble Linear

Motion Controllers

Ensemble CL SPECIFICATIONS
Ensemble CL

Units
Brush, Brushless, Stepper, Voice Coil

Motor Style
VAC

56 (center tapped transformer; two 28 VAC windings); Max

Control Supply(1)VAC

85-240; 50/60 Hz

Bus Voltage(2)

VDC

±40

Peak Output Current (1 sec)(3,4)

Apk

10

Continuous Output Current(3,4)

Apk

5

Digital Inputs—

6 Optically-Isolated (2 High Speed)

Digital Outputs—

4 Optically-Isolated

Analog Inputs—

One 16-bit Differential; ±10 V

Analog Outputs—

Motor Supply

Dedicated I/O on Auxiliary Feedback
Connector
I/O Expansion Board(5)One 16-bit Single-Ended
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 Axis I/O on Feedback
Connector

sin, cos, mkr for Aux Enc; Aux Enc can be used for PSO Output—

16/16 Digital Opto-Isolated;1 Analog In (±10 V, 12-bit Differential); 1 Analog Out (±10 V, 12-bit)
Yes (50 ns Latency)

High Speed Data Capture
Automatic Brake Control—

Optional

Emergency Stop Sense Input (ESTOP)(6)—Standard; 24 V Opto-Isolated

Position Synchronized Output (PSO)—

Single Axis Only

Can Output Multiplied EncoderNo

Can Output Square Wave Encoder

Yes

Primary Encoder Input Frequency

32 MHz Square Wave Standard; 400 kHz Sine Wave (MXU)
32 MHz Square Wave

Secondary Encoder Input Frequency
Encoder Multiplication—

Up to x65536 (MXU)

Resolver Interface

—

N/A
N/A

Internal Shunt Resistor

N/A

External Shunt
Ethernet

—

N/A

USB

No

RS-232Yes

FireWireNo

Fieldbus

Modbus TCP; Ethernet/IP

Current Loop Update RatekHz

Servo Loop Update Rate

kHz

10

Power Amplifier Bandwidth

kHz

Selectable Through Software

Minimum Load InductancemH

0Operating Temperature°C

0 to 50

Storage Temperature
Weight

20°C-30 to 85

kg (lb)3.54 (7.8)

Notes:
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 IO option.
6. Requires external relay to remove motor supply power.

5

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Ensemble ML SPECIFICATIONS
Units
Brush, Brushless, Stepper, Voice Coil

Motor Style
VDC±40 max

Control Supply(1)VDC

18-36 VDCBus Voltage(2)

VDC

±40

Peak Output Current (1 sec)(3,4)

Apk

10

Continuous Output Current(3,4)

Apk

5

Digital Inputs—

N/A

Digital Outputs—

N/A

Analog Inputs—

One 16-bit Differential; ±10 V

Analog Outputs—

N/A
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 Axis I/O on Feedback
Connector
Dedicated I/O on Auxiliary Feedback
Connector

sin, cos, mkr for Aux Enc; Aux Enc can be used for PSO Output—

8/8 Digital Opto-Isolated; 1 Analog In (±10 V, 16-bit Differential); 1 Analog Out (±5 V, 16-bit)
Yes (50 ns Latency)

High Speed Data Capture
Automatic Brake Control—

Optional

Emergency Stop Sense Input (ESTOP)(6)—Standard; 24 V Opto-Isolated

Position Synchronized Output (PSO)—

Single Axis Only
Yes (MXH Only)

Can Output Multiplied Encoder
Can Output Square Wave Encoder

Yes

Primary Encoder Input Frequency

32 MHz Square Wave Standard; 2 MHz Sine Wave (MXU or MXH)
32 MHz Square Wave

Secondary Encoder Input Frequency
Encoder Multiplication—

Up to x4096 (MXU); Up to x65536 with Quadrature Output (MXH)

Resolver Interface

—

N/A
N/A

Internal Shunt Resistor

N/A

External Shunt
Ethernet

—

N/A

USB

No

RS-232Yes

FireWireNo

Fieldbus

Modbus TCP; Ethernet/IP

Current Loop Update RatekHz

Servo Loop Update Rate

kHz

10

Power Amplifier Bandwidth

kHz

Selectable Through Software

Minimum Load InductancemH

0Operating Temperature°C

0 to 50

Storage Temperature
WeightEnsemble Linear

Motor Supply

I/O Expansion Board(5)Motion Controllers

Ensemble ML

20°C-30 to 85

kg (lb)0.45 (1.0)

Notes:
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 IO option.
6. Requires external relay to remove motor supply power.

www.aerotech.com

6

Ensemble HLe

169.3 [6.67]

40.6 [1.60]

Ø5.5 [Ø0.22]
79.9 [3.15]
24.6 [0.97]

127.0 [5.00]
76.2 [3.00]

24.6 [0.97]

20.7 [0.81]

43.8 [1.73]

Ensemble Linear

Motion Controllers

Ensemble HLe DIMENSIONS

7

234.3 [9.22]
18.1 [0.71]

REC. MTG. HDWR.: M5 [#10]248.5 [9.79]
256.2 [10.09]
273.1 [10.75]
5.5 [0.22]

11.2 [0.44]

188.0 [7.40]

Ø11.6 [Ø0.46]

230.1 [9.06]
255.0 [10.04]

2.3 [0.09]

www.aerotech.com

Ensemble HLe DIMENSIONS
169.3 [6.67]

Motion Controllers

Ensemble HLe with Additional I/O and Resolver

40.6 [1.60]

79.9 [3.15]
39.6 [1.56]

155.4 [6.12]
76.2 [3.00]

38.0 [1.50]

20.7 [0.81]

43.8 [1.73]

Ensemble Linear

Ø5.5 [Ø0.22]

www.aerotech.com

234.3 [9.22]
18.1 [0.71]

REC. MTG. HDWR.: M5 [#10]248.5 [9.79]
256.2 [10.09]
273.1 [10.75]
5.5 [0.22]

11.2 [0.44]

188.0 [7.40]

Ø11.6 [Ø0.46]

230.1 [9.06]
255.0 [10.04]

2.3 [0.09]

8Ensemble CL

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Motion Controllers

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9

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www.aerotech.com

Ensemble CL DIMENSIONS
Motion Controllers

Ensemble CL with additional I/O$%&
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Ensemble Linear

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10Ensemble ML with additional I/O

Ensemble Linear

Motion Controllers

Ensemble ML DIMENSIONS

11

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Ensemble HLe/CL/ML ORDERING INFORMATION

Ensemble HLe

20-40-X-ENET

RDP1-10K

Output Current

Control Option

Resolver Options

10-40-X
20-40-X
10-80-X-IO-DUALPSO-TRIPLEPSO-PSOPTO2-PSOPTO3-PSOPTO4-PSOAH-MXH-ENET

RDP1-10K
RDP1-7.5K
RDP1-5K
RDP2-10K
RDP2-7.5K
RDP2-5K

Ensemble CL

10-40

-IO
-MXU

Ensemble ML

10-40

-IO
-MXU
-MXH

Ensemble Linear

Base
Ensemble HLe

Motion Controllers

Ordering Example

Ensemble HLe/CL/ML Discrete Drives
ENSEMBLE HLe10-40-x

10 A peak, 5 A continuous, ±40 VDC bus, auxiliary 115/230 VAC input to power logic circuitry;
supports brushless, brush, and stepper motors; includes: 4 opto-isolated digital inputs (sinking or
sourcing), 2 high-speed inputs, 4 opto-isolated digital outputs (sinking only), 1 16-bit analog
output, 1 16-bit differential analog input, single-axis PSO capability, 2 quadrature encoder input
channels, ESTOP sense input

ENSEMBLE HLe20-40-x

20 A peak, 10 A continuous, ±40 VDC bus, auxiliary 115/230 VAC input to power logic circuitry;
supports brushless, brush, and stepper motors; includes: 4 opto-isolated digital inputs (sinking or
sourcing), 2 high-speed inputs, 4 opto-isolated digital outputs (sinking only), 1 16-bit analog
output, 1 16-bit differential analog input, single-axis PSO capability, 2 quadrature encoder input
channels, ESTOP sense input

ENSEMBLE HLe10-80-x

10 A peak, 5 A continuous, ±80 VDC bus, auxiliary 115/230 VAC input to power logic circuitry;
supports brushless, brush, and stepper motors; includes: 4 opto-isolated digital inputs (sinking or
sourcing), 2 high-speed inputs, 4 opto-isolated digital outputs (sinking only), 1 16-bit analog
output, 1 16-bit differential analog input, single-axis PSO capability, 2 quadrature encoder input
channels, ESTOP sense input

ENSEMBLE CL10-40

10 A peak, 5 A continuous, 115 VAC logic input power linear digital controller and drive; 56 VAC
bus power; includes 4 digital outputs, 6 digital inputs, 1 analog output, 1 analog input, 1 24-VDC
1-amp solid-state brake relay; includes axis calibration, PSO, camming, absolute encoder support

ENSEMBLE ML

10 A peak, 5 A continuous, 10-80 VDC input, linear digital controller and drive with Ethernet
interface; supports brush, brushless, and stepper motors; 2 quadrature encoder input channels,
ESTOP sense input, and 24-80 VDC logic power input; includes axis calibration and camming

Options (Ensemble CL and ML)
BRAKE24-2
ENET-CAT6-10
ENET-CAT6-20
ENET-CAT6-30
ENET-CAT6-45

24 volt power supply for brake; 2 A
1.0 m (3.2 ft) Ethernet cable
2.0 m (6.6 ft) Ethernet cable
3.0 m (9.8 ft) Ethernet cable
4.5 m (14.7 ft) Ethernet cable

Options (Ensemble CL)
-I/O
-MXU
-ETHERNET/IP

www.aerotech.com

Expansion board with 16 opto-isolated inputs (sinking or sourcing), 16 outputs (sinking or
sourcing ), 1 12-bit analog input, 1 16-bit analog output, and one 24 VDC 1-amp mechanical relay
Programmable encoder multiplier up to x1024; no real-time output
ODVA certified EtherNet/IPTM module for Allen-Bradley PLC with two APIs – ASCII andRegister-to-Register

12

Ensemble Linear

Motion Controllers

Ensemble HLe/CL/ML ORDERING INFORMATION
Ordering Example (continued)
ENSEMBLE-MC-MACHINE-DYNAMIC CONTROLSTOOLBOX-MOTION DESIGNER-MAINTENANCE-1-0

SoftwareLicenseController Options

Motion Composer(MC) Options

Maintenance

ENSEMBLE-MC-MACHINE-DEVELOPER-FIVE AXIS CONTOURING-DYNAMIC CONTROLS TOOLBOX-ENHANCED THROUGHPUT MODULE-ENHANCED TRACKING CONTROL-MOTION DESIGNER-LABVIEW-MAINTENANCE-y-mm

Ensemble Software
ENSEMBLE-MCENSEMBLE: Full installation of Ensemble controller and selected software components on a new system. Fullpart number includes software options listed below. Pricing is summation of selected software products.
Maintenance (software update) included in price for one year from date of purchase.
MOTION COMPOSER STANDARD: Includes the Integrated Development Environment, Scope, System
Diagnostics, and System Maintenance. Ensemble Motion Composer is intended for deployment on desktop orindustrial PCs with a minimum Intel Pentium 4 processor, 512 MB RAM, Windows® XP or Windows® Vista
Business (without SP1 installed). A full list of PC requirements and recommendations is available atwww.aerotech.com. Includes the following software options:

License-MACHINE

Provides the ability to write, compile, execute, debug programs in AeroBasic; full access to .NET 2.0 and C
Library; access full diagnostics, fault, and status information; access and set I/O, registers, and variables; collect,analyze, and save data; view files from machine for analysis and record keeping; connect PC to machine through
Ethernet TCP/IP or USB; upgrades can be installed (firmware or controller) using Loader; includes Ensemble-MC
Standard; Note: The price of the first MACHINE license is included in the hardware price. The list price of the
MACHINE license is used for multiple license copies and/or computing the Maintenance Price.

-DEVELOPER

Provides the ability to write, compile, execute, debug programs in AeroBasic; full access to .NET 2.0 and C
Library; access full diagnostics, fault, and status information; access and set I/O, registers, and variables; collect,analyze, and save data; view files from machine for analysis and record keeping; connect PC to machine through
Ethernet TCP/IP or USB; CANNOT upgrade firmware or controller software; CANNOT simulate trajectory;
includes Ensemble-MC Standard except loader; Note: System and Control Options are not valid for Developer
LicenseController Options-FIVE AXIS CONTOURING-DYNAMIC CONTROLS TOOLBOX-ENHANCED THROUGHPUT MODULE-ENHANCED TRACKING CONTROL

More than 4 axes of coordinated motion with a single motion command
Includes Harmonic Cancellation
Includes setup and monitoring screens of the ETM module; included in the price of the
hardware modules sold separately
Enhanced tracking control for reduced dynamic following error and settling times

System Options-ETHERNET/IPODVA certified EtherNet/IPTM module provides full integration with Allen Bradley PLC and programmable from
RSLogixTM. Module has two APIs: ASCII and Register-to-Register

Motion Composer (MC) Options-MOTION DESIGNER The Motion Designer is an add-on software component to the Digital Scope thatprovides the ability to create, import, run, and evaluate motion profiles (trajectories)-LABVIEW
Includes LABVIEW 8.2 VI samples

Maintenance- MAINTENANCE

13First year of maintenance is included with the initial purchase; additional years can be purchased

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