Motion Controllers
Ensemble QDe

Ensemble® QDe

High-Performance, Networked, Desktop Piezo Drive
Networkable with any Ensemble drive to control
up to ten axes of piezo and/or servo motor
stagesMulti-axis Position Synchronized Output (PSO)
for real-time triggering of events
High-precision 20-bit sensor resolution forcapacitive sensor feedback
Configurable, 18-bit analog input for external
feedback sensor integration or command
generation
Advanced control features such as learning
control, harmonic cancellation and commandshaping improve tracking error and overall
process throughput
Ethernet and USB 2.0 communication interfaces
Advanced Windows®-based remote diagnostics,tuning, and programming interface software
Program in AeroBasicTM using Aerotech’s IDE orcreate custom remote interfaces with Microsoft.NET including C#, VB.NET, Managed C++,LabVIEW®, EPICS, MATLAB®, and TANGOThe Ensemble QDe is a high-performance desktop
nanopositioning piezo drive designed for seamless use with
the Ensemble family of drives and controllers. The QDeconnects to any Ensemble controller network enabling
coordinated motion between piezo stages and servo axes atmuch higher rates than other controller or drive products.
This power and versatility make the Ensemble QDe ideal
for single or multi-axis applications ranging fromfundamental scientific research to advanced OEM machinesystems.
Featuring a dual-core 456 MHz, double-precision, floatingpoint DSP, the QDe provides extreme processing power

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The Ensemble QDe provides multi-axis functionality
in a discrete single-axis, desktop package.

over a wide variety of applications including point-to-point
motion, linear and circular interpolation, multi-axis error
correction, and autofocusing. High-speed interrupts anddata logging capabilities provide a real-time link to externalsystems. The QDe also features high-speed positioning
latching capability and multi-axis position synchronizedoutput (PSO) for generation of pulses based on actual
position feedback in applications ranging from laser firing
to acquisition system triggering.

High-Resolution and Ultra-Precise Feedback
Using the latest technology and high-resolution A/D andD/A converters, the QDe enables sub-nanometer
positioning resolution at high bandwidths. The QDe
capacitive sensor feedback circuitry results in exceptionally
low noise levels over the full travel range. Using an
Aerotech developed proprietary linearization scheme
achieves linearity better than 0.01% over the full travel
range in closed-loop mode.

Precision I/O
In addition to the four optically-isolated digital inputs, twohigh-speed digital inputs and four optically-isolated digital
outputs, the Ensemble QDe possesses two analog inputs
and two analog outputs. One analog input, an 18-bit
precision A/D, can be programmatically configured toaccept an external feedback sensor or position command.
This analog input also allows direct control of the highvoltage power amplifier by an external low-level analog
input. Also, one 20-bit D/A analog output can be
programmatically configured for position or voltage
monitoring at very high resolutions.

Advanced Software and Control Features
The Ensemble QDe uses PID servo loops with advanced
feedforward and multiple integrators coupled with eightprogrammable filters to supply the user with all necessary
tools needed to optimize motion performance. Additional

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QDe DESCRIPTION

Monitor and control all aspects of the positioning system,no matter how complex, through the Ensemble GUI
Integrated Development Environment software. Advanced
tuning utilities minimize 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

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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.

Automatic Parameter Configuration
Aerotech’s piezo stages include our time-saving“FlashConfig” feature that stores all of the parametric
information required to operate the stage. Upon plug-in, theQDe automatically identifies the connected stage. All
operation parameters, including axis calibration data andsoftware parameters, are uploaded into the Ensemble QDe.
This ensures faster setup and avoids errors that can result in
substandard performance. “FlashConfig” provides true“plug and play” operation of your Aerotech stage.

Ensemble QDePowerful Programming and Software DriversMotion Controllers

software options such as the Dynamic Controls Toolbox
and Motion Designer packages make available a host ofadvanced, yet easy-to-use, tools such as Learning Control,
Harmonic Cancellation, Command Shaping, and CrossAxis Feedforward to improve tracking errors and provide
faster step-and-settle times.

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Motion Controllers

QDe DESCRIPTION

Ensemble IDE.

10-Axis, Stand-Alone Drives

CPCP

CPCP

ML
MP

ANALOG I/O

AUX I/O

J107

J108

ANALOG I/O

AUX I/O

J107

J108

POWER
ENABLEMPMPMLMP

POWER

QDeENABLE

QDeENET,USB

Piezo stages

Servo or stepper motors/stages

Ensemble drives shown in a ten-axis configuration

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Ensemble QDe SPECIFICATIONS
Motion Controllers

FeatureQDe250

Package Type

DesktopProcessor

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

Power Supply

100-240 VAC; 50/60 Hz

Voltage Output-30 to +150 V

Sensor TypeCapacitive Sensor

Ensemble QDeSensor Resolution

20-bitVoltage Resolution

20-bitContinuous Power Output

10 Watts

Peak Current Output

250 mA

Continuous Current Output

50 mA

Digital Inputs(4) Optically Isolated, (2) High Speed, and (1) ESTOP

Digital Outputs(4) Optically Isolated

Analog Inputs

2 Total, ± 10 V Differential(1) 16-bit General Purpose, (1) 18-bit High-Resolution Configurable for External Feedback orExternal Command Input

Analog Outputs

2 Total, ± 10 V Single-Ended(1) 16-bit General Purpose, (1) 20-bit High-Resolution Configurable for Position or Voltage
Monitoring

High-Speed Data Capture

Yes (50 ns latency)

Position Synchronized Output (PSO)

Three-Axis Standard

Cap Sensor Synchronization

Yes

Communication Interfaces

10/100 Base T Ethernet, USB 2.0

Servo Loop Update
Programming Environment
Weight20 kHzMulti-Tasking AeroBasic
1.4 kg (3.0 lbs)

pk-pk sinusoidal voltage with a DC offset of 60V
continuous current = 50 mA; peak current = 250 mA

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

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Ensemble QDe250-C

Ensemble QDe

Motion Controllers

Ensemble QDe DIMENSIONS

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www.aerotech.com

Ensemble QDe ORDERING INFORMATION
Motion Controllers

Ensemble QDe High-Performance Panel-Mount Piezo Drive
Ensemble QDe250-C

High-performance networkable, standalone desktop piezo drive with capacitive sensor feedback, 250 mA peakcurrent, 50 mA continuous current, -30 to +150 V output. Features include:• High-precision 20-bit sensor resolution for cap sensor feedback in closed-loop.
• Configurable input/outputs; 4 opto-isolated inputs, two high-speed digital inputs, 4 opto-isolated outputs, twoanalog inputs (1 18-bit, 1 16-bit), and two analog outputs (1 20-bit, 1 16-bit).
• 3-axis Position Synchronized Output (PSO) standard• 10/100 base T Ethernet port; 1 USB 2.0 port

Ensemble QDeLine Cord-ENGLAND-GERMANY-ISRAEL-INDIA-AUSTRALIA-US115VAC-US230VAC-NOLINECORD

UK 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 cord

Ensemble Software Options-DYNAMIC CONTROLS TOOLBOX-MOTION DESIGNER-LABVIEW-MATLABwww.aerotech.com

The 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
Includes MATLAB® library for motion, parameters, and data collection.

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