Motion Controllers
Ensemble QL and QLe

Ensemble® QL andQLe
Networked Panel-Mount Piezo Drive

Networkable with any Ensemble drive to control
up to ten axes of piezo and/or servo motor
stagesSingle or Multi-axis Position SynchronizedOutput (PSO) for real-time triggering of events
Available with high-precision (to 20-bit)
sensor resolution for capacitive sensor feedback
Configurable analog input (to 18-bit) for
external feedback sensor integration orcommand 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 AeroBasic™ using Aerotech’s IDE orcreate custom remote interfaces with Microsoft.NET including C#, VB.NET, Managed C++,LabVIEW®, MATLAB®, EPICS, or TANGOThe Ensemble QL/QLe panel-mount nanopositioning piezo
drive family is designed for seamless use with theEnsemble family of drives and controllers. The QL/QLe
connects 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, versatility, and affordability make theEnsemble QL/QLe drives ideal for applications ranging
from the most demanding fundamental scientific research toadvanced OEM machine systems.
Featuring a dual-core 456 MHz, double-precision, floatingpoint DSP, the QL/QLe drives provide extreme processing
power over a wide variety of applications including point-1

The Ensemble QL andQLe provide multi-axis
functionality in a discrete single-axis, panelmount package.

to-point motion, linear and circular interpolation, multi-axis
error correction, and autofocusing. High-speed interrupts
and data logging capabilities provide a real-time link toexternal systems. The QL/QLe also offers high-speed
positioning latching capability and single-axis (QL) or
multi-axis (QLe) position synchronized output (PSO) for
generation of pulses based on actual position feedback inapplications ranging from laser firing to data acquisition
system triggering.

Ultra-Precision Feedback Options
Using the latest technology and high-resolution A/D andD/A converters, the QLe enables sub-nanometer positioning
resolution at high bandwidths. The QLe capacitive sensor
feedback circuitry provides ultra-low noise performanceover the full travel range. In applications requiring lessthan maximum positioning resolution, the QL drive offers
lower-resolution A/D and D/A converters providing thebenefits of high-speed feedback and command generation ata more economical price point. Using an Aerotech
developed proprietary linearization scheme achieves
linearity better than 0.01% over the full travel range inclosed-loop mode with both the QL and QLe.

I/O Options
In addition to the four optically-isolated digital inputs, twohigh-speed digital inputs and four optically-isolated digitaloutputs, both the Ensemble QL and QLe are equipped with
two analog inputs and two analog outputs. For ultra-precise
applications, the QLe offers an 18-bit analog input that canbe programmatically configured to accept an external
feedback sensor or position command. This analog input
also allows the high-voltage power amplifier to be

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Ensemble QL and QLe DESCRIPTION

The Ensemble software uses advanced PID servo loops
with advanced feedforward and multiple integrators
coupled with eight programmable filters to supply the user
with all necessary tools needed to optimize motion
performance. Additional software options such as theDynamic Controls Toolbox and Motion Designer packages
make available a host of advanced, yet easy-to-use, toolsthat can improve tracking errors and provide faster stepand-settle times. These tools include Learning Control,
Harmonic Cancellation, Command Shaping, and CrossAxis Feedforward.

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.

Ensemble QL and QLe

Advanced Software and Control Features

Motion Controllers

controlled directly by an external low-level analog input.
Also, the QLe has one 20-bit analog output that can be
programmatically configured for position or voltagemonitoring at very high resolutions. The QL drive offers
the same analog input/output functionality at 16-bitresolutions.

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, theEnsemble QL/QLe automatically identifies the connectedstage. All operation parameters, including axis calibration
data and software parameters, are uploaded into theEnsemble QL/QLe. This ensures faster setup and avoids
errors that can result in substandard performance.
“FlashConfig” provides true “plug and play” operation ofyour Aerotech stage.

Powerful Programming and Software Drivers
The Ensemble GUI Integrated Development Environment
software allows monitoring and control of all aspects of thepositioning system regardless of complexity. Advanced
tuning utilities minimize startup time by allowing easy2Ensemble QL and QLe

Motion Controllers

Ensemble QL and QLe DESCRIPTION

Ensemble IDE.

Ensemble drives shown in a ten-axis configuration

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Ensemble QL and QLe SPECIFICATIONS
QL250

Motion Controllers

FeatureQLe250
Panel-Mount

Package TypeDual-Core 456 MHz, Double-Precision, Floating Point DSP

Processor
Power Supply

100-240 VAC; 50/60 Hz

Voltage Output-30 to +150 V
Capacitive Sensor

Sensor Type17-bit

Voltage Resolution

18-bitEnsemble QL and QLeSensor Resolution

20-bit20-bitCont. Power Output

10 Watts

Peak Current Output

250 mA
50 mA

Cont. Current Output
Digital Inputs(4) Optically Isolated, (2) High Speed, and (1) ESTOP

Digital Outputs(4) Optically Isolated

Analog Inputs

2 total, 16-bit ±10 V differential, (1) Configurable for External
Feedback or External Command Input

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

Analog Outputs

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

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

Yes (50 ns Latency)

High-Speed Data Capture
Position Synchronized Output(PSO)

Three-Axis

Single-Axis

Cap Sensor Synchronization

Yes

Communication Interfaces

10/100 Base T Ethernet, USB 2.0
20 kHzServo Loop Update

Multi-Tasking AeroBasic™

Programming Environment
1.3 kg (2.8 lbs)

Weight

1.3 kg (2.8 lbs)

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

QL/QLe250 sinusoidal peak-peak voltage limits (with a 60
VDC offset) for various piezo stack capacitances

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Ensemble QL250

Ensemble QL and QLe

Motion Controllers

Ensemble QL250 Dimensions

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Ensemble QLe250 Dimensions
Motion Controllers

Ensemble QLe250

Ensemble QL and QLe

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Ensemble QL and QLe ORDERING INFORMATION
Ensemble QL and QLe Panel-Mount Piezo Drive
Ensemble QL250-C

Cost-effective networkable, standalone panel-mount piezo drive with capacitive sensor feedback, 250 mA peakcurrent, 50 mA continuous current, -30 to +150 V output• Configurable input/outputs; 4 opto-isolated inputs, two high-speed digital inputs, 4 opto-isolated outputs, two
16-bit analog inputs, and two 16-bit analog outputs.
• Single-axis Position Synchronized Output (PSO) standard•10/100 base T Ethernet port; 1 USB 2.0 port

Ensemble QLe250-C

High-performance networkable, standalone panel-mount piezo drive with capacitive sensor feedback, 250 mA
peak current, 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 Software Options-DYNAMIC CONTROLS TOOLBOX-MOTION DESIGNER-LABVIEW-MATLAB

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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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