Motion Controllers

Ensemble™ Epaq MR Series
Stand-Alone, Multi-Axis Motion Controllers
Up to eight integrated drives in one stand-alone
controller

Controller architecture capable of coordinating
motion of up to five independent tasks
Capable of driving and controlling linear or
rotary brushless, DC brush servo, and microstepping motors
Complete motion capabilities include: point-topoint, linear and circular interpolation,
electronic gearing, velocity profiling
Program in AeroBasicM with the IDE, Microsoft.NET including C#, VB.NET®, Managed C++,LabVIEW®, and MATLAB®
Remote ASCII interface provided for Windows®
or non-Windows® programs (including Linux) tocommand the Epaq through standard Ethernet or
RS-232 port
Advanced Windows®-based remote diagnostics,
tuning, and programming interface software

Ensemble Epaq MR

Additional external drive axes can be added toprovide up to ten axes of coordinated motion

The Ensemble Epaq MR is a 4- or 8axis 3U rack-mount motion controller.

The EnsembleTM Epaq MR is Aerotech’s next-generation,
stand-alone controller for moderate- to high-performance
applications. It offers functionality appropriate for applications
from basic laboratory experimentation and general purpose
positioning to advanced OEM systems at an affordable price.

Versatile, Stand-Alone, Multi-Axis Control
The Ensemble Epaq MR is offered in a 4- or 8-axis 3U rackmount version. Each version contains integrated power supplies
and pluggable motor and IO connectors. PWM amplifiers areoffered to control brush, brushless, and stepper motors. Linear
amplifiers are also available for high performance, low noise
applications. Higher power external amplifiers may be daisychained to the Epaq MR using the high-speed AeroNet serialinterface for a total of ten axes of coordinated motion.
This flexible configuration style allows users to seamlessly mix
and match drive types (linear versus PWM, brush or brushless,stepper, etc.) within the same positioning system using acommon programming and control platform.
Multiple Epaq MRs can be controlled from one Windows® PC
through Ethernet. Optional on-board encoder interpolation
offers the user programmable axis resolution (assuming a sinewave encoder input signal), including the ability to changeinterpolation (multiplication) values through software.

Powerful and Intuitive Programming Functionality

Axis jogging/control with optional joystick
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

www.aerotech.com

Unlike most controllers on the market today, there is no need tounderstand a cryptic command set to generate motion. The
intuitive interface allows a user to begin programming
immediately. Ensemble online help further simplifies writing
motion programs and includes many functional examples thatcan be easily modified for customer applications.
The Ensemble with Integrated Development Environment
software offers a graphical user interface in Windows®,
featuring an intuitive Program Editor, Variable Output window,
Compiler Output window, and Task State monitor. This
interface enables users to easily monitor all aspects of theirpositioning system, no matter how complex. The Axis Control
and Diagnostic screens are further supplemented by a fully
functional Autotuning utility that minimizes startup time and1Ensemble Epaq MR

Motion Controllers

Ensemble Epaq MR DESCRIPTION
allows easy optimization of motion axes. System diagnostics
are easily read from the interface. The Windows-based remote
software package is included with each unit, which allows theuser to upload/download programs, modify parameter files, andanalyze motion with Aerotech’s advanced graphical tuning
package, all from the convenience of a remote PC.
Whether operated in stand-alone mode or by remote control
through Ethernet, the full functionality of the Ensemble Epaq
MR is available. On-board configuration and monitoring
utilities simplify remote communications. The Epaq MR also
has an RS-232 port for general purpose use.

Advanced DSP Control
The Ensemble Epaq MR uses the processing power of multiple
double precision, floating-point DSPs to offer exceptional
performance in a variety of applications, including point-topoint motion, linear and circular interpolation, single- andmulti-axis error correction, direct commutation of linear androtary brushless servomotors, and on-board servo autotuning.
High-speed interrupts and data logging capabilities provide areal-time link to external systems. The Ensemble Epaq MR alsooffers high-speed position latching capability and optional
single-axis PSO (Position Synchronized Output). Whether therequirement is simple point-to-point motion or complex
velocity profiled contours with output on the fly, Ensemble
ensures peak performance for critical applications.

Integral Drives
Brushless servo, DC brush servo, and microstepping drives areintegrated into the Ensemble Epaq MR compact frame. The
Epaq MR can control any combination of up to eight integral
drives, while the Ensemble architecture is capable of further
expansion (with external stand-alone, single-axis drive units) to
up to ten total axes. Because the Epaq MR can control manydifferent types of motors, customers have excellent flexibility intheir system designs. High accuracy linear motor air-bearings
can be controlled from the same controller running lower
precision drives with servo or stepper motors. Parameters areeasily reconfigured for these various motors and feedback
devices, so customers can adapt to changing system needs.

Expanded Input/Output Capability
On a per axis basis the Epaq MR also features an optional I/O
package offering eight digital inputs and outputs, one 12-bit±10 VDC analog input, one 16-bit ±5 VDC output, aconfigurable brake output, a second TTL encoder input for dual
loop control, and either a second marker input or PSO output.
This optional I/O package can be added to each axis so
numerous I/O can be connected to the Epaq MR.

Enhancing a Legacy of Success
Although Ensemble is envisioned as a general-purpose, standalone controller, it carries forward a legacy of success built
from Aerotech’s hugely successful A3200 and SoloistTM
controllers. It offers enhanced capabilities that make it an ideal
choice for many aggressive motion control applications. The
Ensemble motion control architecture builds upon the Soloist
intuitive graphical user interface, while offering advanced
features appropriate for multi-axis control. Pre-coded
LabVIEW® VIs, AeroBasic™ programming functionality,
MATLAB® library, .NET tools for C#, VB.NET and managed
C++ or C make the Ensemble even easier to use. See theEnsemble Control home page for detailed information on
software capabilities and ordering options.

Allen-Bradley Interface
Combine proven PLC with proven motion control for easierintegration, startup, and maintenance of medium- and high-end
automation projects. The Aerotech EtherNet/IPTM interface
enables AB PLCs (MicroLogix, CompactLogixTM, orControlLogix) to be integrated directly with the Ensemble.
Motion can be directly programmed in the RSLogix 5000
environment or separate programs can be written on thecontroller and triggered from the AB PLC. Aerotech has twointerfaces: ASCII and Register. Choose the PLC, motion
controller, and interface that best fits your application needs.

EPICS Drivers
Each Ensemble installation includes full compatibility with the
EPICS open source distributed control system. EPICS is usedworldwide at leading light source (synchrotron) facilities andother government laboratories, allowing Ensemble toseamlessly integrate into applications at all major research
institutions.

Ensemble Epaq MR Integrated Amplifier SPECIFICATIONS
Integrated Amplifier Electrical Specifications

MP

ML

VDC

10, 20, 30, 40, 80

10, 20, 30, 40

Peak Output Current

A

10

10(1)

Continuous Output Current

A

5

5(1)

PWM Switching Frequency

kHz

20

N/A

Power Amplifier Bandwidth

kHz

Software Selectable

Software Selectable

Minimum Load Inductance

mH

0.1

0

Operating Temperature°C

0 to 50

0 to 50

Storage Temperature°C-20 to 85-20 to 85

Weight

kg

0.5

0.5

Output Voltage

Notes:
1. Actual current ratings dependent on motor resistance.

2

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Ensemble Epaq MR SPECIFICATIONS
Epaq MR
1 to 8

Encoder Inputs

1 Primary and 1 Auxiliary Per Axis
Brush, Brushless, Stepper

Motor Style
VAC

100-240 VAC; 50/60 Hz (Factory Configured)

Bus Voltage

VDC

10-80

Peak Output Current (1 sec)(1)

Apk

10

Continuous Output Current(1)Apk5Digital Inputs—

No

Digital Outputs—

No

Analog Inputs—

One 16-bit Analog Input per Axis

Analog Outputs—

No
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; One 16-bit
Analog Input

Dedicated Axis I/O on Feedback Connector

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

Dedicated I/O on Auxiliary Feedback Connector(2)—

One 12-bit Differential Analog Input; One 16-bit Analog Output; Eight Digital Inputs, Optically
Isolated, Sinking or Sourcing; Eight Optically-Isolated Digital Outputs per Axis

High Speed Data CaptureYes(2)High Speed Digital Outputs

No
No

Bi-Directional Lines
Automatic Brake Control—

Emergency Stop (ESTOP)—

Optional

Position Synchronized Output (PSO)—

Single Axis Standard

Optional

Yes (only with MXH option)

Can Output Multiplied Encoder

Yes

Can Output Square Wave Encoder
Primary Encoder Input Frequency with
Multiplication

200 kHz (MXU) or 450 kHz (MXH) sine wave

Primary Encoder Input Frequency – Square Wave

10 MHz square wave frequency/40 MHz count rate

Secondary Encoder Input Frequency

10 MHz square wave frequency/40 MHz count rate
No

Laser Feedback Support
Encoder Multiplication(3)—x4096 (MXU); x65536 (MXH)

Resolver Interface

—

No
No

Internal Shunt Resistor

No

External Shunt
Ethernet

—

Yes

USB

No

RS-232Yes

FireWireNo

Fieldbus

Modbus TCP on PC

JoystickYes
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

Additional Interfaces

No

Other I/O
Current Loop Update Rate

kHz

20

Servo Loop Update RatekHz

1 to 20

Power Amplifier Bandwidth

kHz

Selectable Through Software

Minimum Load InductancemH

0.1 mH with PWM; 0 with Linear

Operating Temperature°C

0 to 50

Storage Temperature°C-30 to 85

WeightEnsemble Epaq MR

Power Supply

I/O Expansion Board

Motion Controllers

Units
Number of Axes

kg (lb)

Package

16 (35)
Rack Mount

Notes:
1. Peak value of the sine wave; rms current for AC motors is 0.707 * Apk.
2. Requires IO option.
3. Effective multiplication factor after quadrature decoding (if applicable).

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3

4-Axis Chassis

Ensemble Epaq MR

Motion Controllers

Ensemble Epaq MR DIMENSIONS

4

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Ensemble Epaq MR DIMENSIONS
Motion Controllers

8-Axis Chassis

Ensemble Epaq MR

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5Ordering Example
Ensemble
Epaq MR/4AXIS-BOX-A-4-40LP/1-MP10I/2-MP10/3-MP10

Base

PackageLine Voltage

Bus Power
SupplyAxis 1 Amp

Axis 2 Amp

Axis 3 Amp/4AXIS-BOX/8AXIS-BOX

-A
-B
-C
-D

-4-40LP-4-80LP-4-40-4-80-4-10B-4-20B-4-30B-4-40B-8-40LP-8-80LP-8-40-8-80-8-10B-8-20B-8-30B-8-40B/1-MP10/1-MP10I/1-MP10M/1-MP10MI/1-MP10-HB/1-MP10I-HB/1-MP10M-HB/1-MP10MI-HB/1-ML10/1-ML10I/1-ML10M/1-ML10MI/1-ML10H/1-ML10HI/2-MP10/2-MP10I/2-MP10M/2-MP10MI/2-MP10-HB/2-MP10I-HB/2-MP10M-HB/2-MP10MI-HB/2-ML10/2-ML10I/2-ML10M/2-ML10MI/2-ML10H/2-ML10HI/3-MP10/3-MP10I/3-MP10M/3-MP10MI/3-MP10-HB/3-MP10I-HB/3-MP10M-HB/3-MP10MI-HB/3-ML10/3-ML10I/3-ML10M/3-ML10MI/3-ML10H/3-ML10HI

Ensemble Epaq MR

Motion Controllers

Epaq MR ORDERING INFORMATION

Ordering Example (continued)/4-MP10/5-MP10/6-MP10/7-MP10/8-MP10/US-115VAC/Brake-2

Axis 4 Amp

Axis 5 Amp

Axis 6 Amp

Axis 7 Amp

Axis 8 Amp

Line Cord

Brake Options/4-MP10/4-MP10I/4-MP10M/4-MP10MI/4-MP10-HB/4-MP10I-HB/4-MP10M-HB/4-MP10MI-HB/4-ML10/4-ML10I/4-ML10M/4-ML10MI/4-ML10H/4-ML10HI/5-MP10/5-MP10I/5-MP10M/5-MP10MI/5-MP10-HB/5-MP10I-HB/5-MP10M-HB/5-MP10MI-HB/6-MP10/6-MP10I/6-MP10M/6-MP10MI/6-MP10-HB/6-MP10I-HB/6-MP10M-HB/6-MP10MI-HB/7-MP10/7-MP10I/7-MP10M/7-MP10MI/7-MP10-HB/7-MP10I-HB/7-MP10M-HB/7-MP10MI-HB/8-MP10/8-MP10I/8-MP10M/8-MP10MI/8-MP10-HB/8-MP10I-HB/8-MP10M-HB/8-MP10MI-HB/ENGLAND/GERMANY/ISRAEL/INDIA/AUSTRALIA/US-115VAC/US-230VAC/NO-LINECORD/BRAKE-1/BRAKE-2/BRAKE-3/BRAKE-4/BRAKE-5/BRAKE-6/BRAKE-7/BRAKE-8

Ensemble Epaq MR 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.

-MC

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

6

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; 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.

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Epaq MR Software ORDERING INFORMATION
Motion Controllers-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; 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 License

Controller Options
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

Ensemble Epaq MR-FIVE AXIS CONTOURING-DYNAMIC CONTROLS TOOLBOX-ENHANCED THROUGHPUT MODULE

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

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

Epaq MR ORDERING INFORMATION
Epaq MR
Epaq MR

Four or eight axis, rack mount, stand-alone motion controller with integrated power supplies, and servo/stepping
motor amplifiers. Features include independent or coordinated motion, point to point, linear and circularinterpolation, constant velocity, velocity profiled, time based, free-run motion types, electronic gearing, backlash
compensation, and 1D or 2D axis calibration. Ensemble Standard HMI Multi-Axis Software included.
-Up to 10 kHz servo update rate for all axes
-Digital servo loop
-One 10/100 base T Ethernet port; one RS-232 port
-Dedicated I/O per axis includes: CW, CCW, and home limits, marker, Hall effect sensors, enable, fault, for each axis
-User defined I/O on I/O option board includes eight opto-isolated inputs (sinking or sourcing), eight outputs(sinking or sourcing ), one 12-bit analog input, one 16-bit analog output and brake relay; this I/O is on Axis 1;
optional adder for axes 2-6

Package/4AXIS-BOX/8AXIS-BOX

Supports up to 4 axes of motion
Supports up to 8 axes of motion

Line Voltage
-A
-B
-C
-D

115 VAC input voltage
230 VAC input voltage
100 VAC input voltage
200 VAC input voltage

Bus Power Supply-4-40LP-4-80LP-4-40-4-80-4-10B-4-20B-4-30B-4-40B

Four axis rack with 40 VDC bus; up to 300 watts
Four axis rack with 80 VDC bus; up to 300 watts
Four axis rack with 40 VDC bus; up to 600 watts
Four axis rack with 80 VDC bus; up to 600 watts
Four axis rack with ±10 VDC bus; up to 400 watts
Four axis rack with ±20 VDC bus; up to 400 watts
Four axis rack with ±30 VDC bus; up to 400 watts
Four axis rack with ±40 VDC bus; up to 600 watts

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7

Ensemble Epaq MR

Motion Controllers

Epaq MR ORDERING INFORMATION-8-40LP-8-80LP-8-40-8-80-8-10B-8-20B-8-30B-8-40B

Eight axis rack with 40 VDC bus; up to 500 watts
Eight axis rack with 80 VDC bus; up to 500 watts
Eight axis rack with 40 VDC bus; up to 500 watts
Eight axis rack with 80 VDC bus; up to 1000 watts
Eight axis rack with ±10 VDC bus; up to 400 watts
Eight axis rack with ±20 VDC bus; up to 400 watts
Eight axis rack with ±30 VDC bus; up to 400 watts
Eight axis rack with ±40 VDC bus; up to 600 watts

Axis 1 Amplifier Options/1-MP10/1-MP10I/1-MP10M/1-MP10MI/1-MP10-HB/1-MP10I-HB/1-MP10M-HB/1-MP10MI-HB/1-ML10/1-ML10I/1-ML10M/1-ML10MI/1-ML10H/1-ML10HI

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
Digital linear amplifier, 10 A peak, 5 A continuous
Digital linear amplifier, 10 A peak, 5 A continuous with I/O option
Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Axis 2 Amplifier Options/2-MP10/2-MP10I/2-MP10M/2-MP10MI/2-MP10-HB/2-MP10I-HB/2-MP10M-HB/2-MP10MI-HB/2-ML10/2-ML10I/2-ML10M/2-ML10MI/2-ML10H/2-ML10HI

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
Digital linear amplifier, 10 A peak, 5 A continuous
Digital linear amplifier, 10 A peak, 5 A continuous with I/O option
Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Axis 3 Amplifier Options/3-MP10/3-MP10I/3-MP10M/3-MP10MI/3-MP10-HB/3-MP10I-HB/3-MP10M-HB/3-MP10MI-HB/3-ML10/3-ML10I/3-ML10M/3-ML10MI/3-ML10H/3-ML10HI

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
Digital linear amplifier, 10 A peak, 5 A continuous
Digital linear amplifier, 10 A peak, 5 A continuous with I/O option
Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH with I/O option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

8

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Epaq MR ORDERING INFORMATION
Motion Controllers

Axis 4 Amplifier Options
Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option
Digital linear amplifier, 10 A peak, 5 A continuous
Digital linear amplifier, 10 A peak, 5 A continuous with I/O option
Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital linear amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1)Digital linear amplifier, 10 A peak, 5 A continuous; x65536 MXH(1) with I/O option

Ensemble Epaq MR/4-MP10/4-MP10I/4-MP10M/4-MP10MI/4-MP10-HB/4-MP10I-HB/4-MP10M-HB/4-MP10MI-HB/4-ML10/4-ML10I/4-ML10M/4-ML10MI/4-ML10H/4-ML10HI

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Axis 5 Amplifier Options/5-MP10/5-MP10I/5-MP10M/5-MP10MI/5-MP10-HB/5-MP10I-HB/5-MP10M-HB/5-MP10MI-HB

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Axis 6 Amplifier Options/6-MP10/6-MP10I/6-MP10M/6-MP10MI/6-MP10-HB/6-MP10I-HB/6-MP10M-HB/6-MP10MI-HB

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Axis 7 Amplifier Options/7-MP10/7-MP10I/7-MP10M/7-MP10MI/7-MP10-HB/7-MP10I-HB/7-MP10M-HB/7-MP10MI-HB

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

www.aerotech.com

9Ensemble Epaq MR

Motion Controllers

Epaq MR ORDERING INFORMATION
Axis 8 Amplifier Options/8-MP10/8-MP10I/8-MP10M/8-MP10MI/8-MP10-HB/8-MP10I-HB/8-MP10M-HB/8-MP10MI-HB

Digital PWM amplifier, 10 A peak, 5 A continuous
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1)Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O option
Digital PWM amplifier, 10 A peak, 5 A continuous with half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous with I/O and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) and half bus option
Digital PWM amplifier, 10 A peak, 5 A continuous; x4096 MXU(1) with I/O and half bus option

Note:
1. Effective multiplication factor specified after quadrature decoding (if applicable).

Line Cord (must select one)/ENGLAND/GERMANY/ISRAEL/INDIA/AUSTRALIA/US-115VAC/US-230VAC/NO-LINECORD

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

Brake Options (up to 4 selections allowable)/BRAKE-1/BRAKE-2/BRAKE-3/BRAKE-4/BRAKE-5/BRAKE-6/BRAKE-7/BRAKE-8

Axis 1 wired for 24 V, 1 A brake
Axis 2 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 3 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 4 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 5 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 6 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 7 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 8 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)

Options (multiple selections allowable)-ESTOP1-ESTOP2-ESTOP3-SLIDE

Controller stops motion, then disables servo control. Internal positive guided relay with monitor contact
disconnects AC power source from motor. Operator risk assessment is the responsibility of the end user or
integrator
Same as ESTOP1 but uses two relays
Same as ESTOP2 but contains 1 second bus discharge resistors
Rackmount slides

Standard Motor Power and Combination Power/FeedBack Cables (order as separate line items)
C21481-50
C21491-50
C21511-50
C21501-50
C21521-50
C22091-50

10CABLE: BL MTR-4TS-4MS-LP1-MAX450DM: MS motor power cable, Epaq 4-terminal connector to 4-pin MS
connector; 5 A continuous current (5 meters long)
CABLE: BL MTR-4TS-4DU-LP1-MAX450DM: HPD motor power cable, Epaq 4-terminal connector to 4-pin
High Power D connector; 5 A continuous current (5 meters long)
CABLE: BL MTR-4TS-4DU-LP1-HF-MAX450DM: Hi Flex HPD motor power cable, Epaq 4-terminal
connector to 4-pin High Power D connector; 5 A continuous current (5 meters long)
CABLE: BL MTR & FB-4TS-25DU-25DU-MAX107DM: 25-pin D stage to split Epaq 4-terminal strip motor
power and 25D feedback cable (5 meters long)
CABLE: SM MTR & FB-25DU-4TS-23B-MAX107DM: 23-pin stepper motor connector to split Epaq 4-terminal
strip motor power and 25D feedback cable (5 meters long)
Motor power cable, high flex, 5.0 meters long, for use with Epaq; 4 A continuous current rating; to be used with
10 A peak drives ONLY-Motor type: brushless-Motor/stage connector: 4-pin high power D-Amplifier connector: 4-pin terminal strip Epaq connector-Maximum cable length: 45 meters-Minimum bend radius 60 mm (2.36")-Rated for continuous flex
-BL MTR-FLB-4DU-HF60-4ARMS-MAX 450DM

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