Motion Controllers

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

Ensemble Epaq

Additional external drive axes can be added toprovide up to nine axes of coordinated motion
Controller architecture capable of coordinating
motion of up to five independent tasks
Capable of driving and controlling linear or rotarybrushless, DC brush servo, and micro-stepping
motorsComplete motion capabilities include: point-topoint, linear and circular interpolation, electronic
gearing, velocity profiling
Program in AeroBASICTM 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, RS232 port, and optional IEEE-488

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

Versatile, Stand-Alone, Multi-Axis Control

Axis jogging/control with optional joystick

The Ensemble Epaq is offered in a 6-axis desktop (rackmount optional) version with display and jog pad. It
contains integrated power supplies and pluggable motor and
IO connectors. PWM amplifiers are offered to control
brush, brushless, and stepper motors. Linear amplifiers arealso available for high performance, low noise applications.
Higher power external amplifiers may be daisy-chained to
the Epaq using the high-speed AeroNet serial interface for a
total of nine axes of coordinated motion.

Fully compatible with EPICS set of software tools
and applications, making Ensemble ideal for use insynchrotron and general laboratory facilities

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 systemusing a common programming and control platform.

Allen-Bradley EtherNet/IPTM interface provides full
integration with the Ensemble; program theEnsemble directly from RSLogixTM 5000

Multiple Epaqs can be controlled from one Windows PC
through Ethernet or USB. Optional on-board encoderinterpolation offers the user programmable axis resolution(assuming a sine-wave encoder input signal), including the®

Advanced Windows -based remote diagnostics,
tuning, and programming interface software
Front panel display and control pad for convenientmenu-driven axis control and status checking

www.aerotech.com

1Ensemble Epaq

Motion Controllers

Ensemble Epaq DESCRIPTION
ability to change interpolation (multiplication) values
through software.

2-Axis
AMG100LP
Gimbal

6-Axis, Stand-Alone,
Rackmount or Desktop

Powerful and Intuitive Programming Functionality
2-AxisAMG150LP
GimbalEnsemble Epaq

ENET

USB

RS-2322-Axis
AMG100LP
GimbalIEEE-488

Aeronet9-Axis RackmountWith Panel-Mount Drives

CL
CP

ENET
USB
RS-232IEEE-488

MP

Ensemble Epaq

ABL1000

PRO1153-AxisFA130

3-AxisFA90

ALAR

The Ensemble can be used to control multiple axes (from one tonine axes) of both brush and brushless drives and motors.

Unlike most controllers on the market today, there is noneed to understand a cryptic command set to generatemotion. The intuitive interface allows a user to begin
programming immediately. Ensemble online help further
simplifies writing motion programs and includes many
functional examples that can be easily modified forcustomer 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
their positioning system, no matter how complex. The Axis
Control and Diagnostic screens are further supplemented bya fully functional Autotuning utility that minimizes startup
time and allows easy optimization of motion axes. System
diagnostics are easily read from the interface. The
Windows-based remote software package is included witheach unit, which allows the user to upload/download
programs, modify parameter files, and analyze motion with
Aerotech’s advanced graphical tuning package, all from theconvenience of a remote PC.
Whether operated in stand-alone mode through the front
panel or by remote control through Ethernet or USB, thefull functionality of the Ensemble Epaq is available. Onboard configuration and monitoring utilities simplify
remote communications. To allow easy serial connectivity
and ease of use, the Epaq features an RS-232 port
(additional RS-232 port is an option) and an optional IEEE488 port.

Ensemble Epaq/Epaq MR Integrated Amplifier SPECIFICATIONS
Integrated Amplifier Electrical Specifications
Output Voltage
Peak Output Current

MP

ML

VDC

24 V, 48 V, 54 V, 90 V options

10-40 V (Bipolar)

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 InductancemH

0.1 @ 54 VDC

0Operating Temperature°C

0 to 50

0 to 50

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

Weight

kg

0.5

0.5

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

2

www.aerotech.com

Integral Drives
Brushless servo, DC brush servo, and microstepping drives
are integrated into the Ensemble Epaq compact frame. The
Epaq can control any combination of up to six integral
drives, while the Ensemble architecture is capable of further
expansion (with external stand-alone, single-axis drive
units) to up to nine total axes. Because the Epaq can control
many different types of motors, customers have excellent
flexibility in their 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 are easily reconfigured for thesevarious motors and feedback devices, so customers canadapt to changing system needs.

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.

Allen-Bradley Interface

Ensemble Epaq

The Ensemble Epaq 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
and rotary brushless servomotors, and on-board servo
autotuning. High-speed interrupts and data logging
capabilities provide a real-time link to external systems.
The Ensemble Epaq also offers high-speed position latchingcapability and optional single-axis PSO (Position
Synchronized Output). Whether the requirement is simple
point-to-point motion or complex velocity profiled contours
with output on the fly, Ensemble ensures peak performancefor critical applications.

Motion Controllers

Advanced DSP Control

Combine proven PLC with proven motion control for easierintegration, startup, and maintenance of medium- and highend automation projects. The Aerotech EtherNet/IPTM
interface enables AB PLCs (MicroLogix, CompactLogixTM,
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.

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.

Expanded Input/Output Capability
Each Epaq features an optional IEEE-488 parallel port,
second RS-232 port, and axis expansion port. On a per axis
basis the Epaq 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 fordual 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.

Enhancing a Legacy of Success
Although Ensemble is envisioned as a general-purpose,stand-alone controller, it carries forward a legacy of successbuilt from Aerotech’s hugely successful A3200 and
SoloistTM controllers. It offers enhanced capabilities thatmake it an ideal choice for many aggressive motion control
applications. The Ensemble motion control architecturebuilds upon the Soloist intuitive graphical user interface,
while offering advanced features appropriate for multi-axis
control. Pre-coded LabVIEW® VIs, AeroBasic™

www.aerotech.com

3Motion Controllers

Ensemble Epaq SPECIFICATIONS
Units

1 to 6

Encoder Inputs

Brush, Brushless, Stepper

Motor Style
Power Supply

VAC

100/115/200/230 VAC; 50/60 Hz (Factory Configured)

Bus Voltage

VDC

40, 40LP, 80, 80LP, 10B, 20B, 30B, 40B

Peak Output Current (1 sec)

A

10

Continuous Output Current(1)Apk5Digital Inputs—

No

Digital Outputs—

No

Analog Inputs—

One 16-bit Analog Input per Axis

Analog Outputs—(1)

Ensemble Epaq

Epaq
1 to 6

Number of Axespk

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—

I/O Expansion Board(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—

Optional

Emergency Stop (ESTOP)—

Optional

Position Synchronized Output (PSO)—

Single Axis Standard
Yes (only with MXH option)

Can Output Multiplied Encoder

Yes

Can Output Square Wave Encoder

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

Primary Encoder Input Frequency with Multiplication
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

Yes

RS-232Yes

FireWireNo

Fieldbus

Modbus TCP on PC
Yes

Joystick

10/100 Base T Ethernet communication interface for system setup, application networking,Epaq-to-Epaq communications, embedded programming, immediate commands, andModbus 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 (second RS-232 port optional)

Additional Interfaces

ESTOP to Stop All Axes
Display: Backlit 8 x 40 Character LCD
Keypad: 5-Key Input Pad
One Optional GPIB (IEEE-488)

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

Weightkg (lb)

Package

4

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

10 (22)
Desktop or RackmountEnsemble Epaq DIMENSIONS
Motion Controllers
Ensemble Epaq

www.aerotech.com

5Ordering Example
Ensemble
Epaq

-S

Base

Package-S-R

Ensemble Epaq

Motion Controllers

Epaq ORDERING INFORMATION

/A

40

Line
Bus Power
Voltage
Supply
/A
/B
/C
/D

40
40LP
80
80LP
10B
20B
30B
40B

/1-MP10I/2-MP10/3-MP10/4-MP10/5-MP10/6-MP10

Axis 1
Amp

Axis 2Amp

Axis 3Amp

Axis 4Amp

Axis 5
Amp

Axis 6Amp/1-MP10I/1-MP10MI/1-ML10I/1-ML10MI/1-ML10HI/2-MP10/2-MP10I/2-MP10M/2-MP10MI/2-BLANK/2-BLANKW/2-ML10/2-ML10I/2-ML10MI/2-ML10M/2-ML10HI/2-ML10H/3-MP10/3-MP10I/3-MP10M/3-MP10MI/3-BLANK/3-BLANKW/3-ML10/3-ML10I/3-ML10MI/3-ML10M/3-ML10HI/3-ML10H/4-MP10/4-MP10I/4-MP10M/4-MP10MI/4-BLANK/4-BLANKW/4-ML10/4-ML10I/4-ML10MI/4-ML10M/4-ML10HI/4-ML10H/5-MP10/5-MP10I/5-MP10M/5-MP10MI/5-BLANK/5-BLANKW/5-ML10/5-ML10I/5-ML10MI/5-ML10M/5-ML10HI/5-ML10H/6-MP10/6-MP10I/6-MP10M/6-MP10MI/6-BLANK/6-BLANKW/6-ML10/6-ML10I/6-ML10MI/6-ML10M/6-ML10HI/6-ML10H

Ordering Example (continued)/US-115VAC/Brake-2/GPIBLine Cord

Brake Options

Options/ENGLAND/GERMANY/ISRAEL/Australia/INDIA/US-115VAC/US-230VAC/NO-LINECORD/Brake-1/Brake-2/Brake-3/Brake-4/Brake-5/Brake-6/ESTOP0/ESTOP1/GPIB/EXTAMP/SLIDE/RS232-2

Ensemble Epaq 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

6-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
Licensewww.aerotech.com

Epaq Software ORDERING INFORMATION
Motion Controllers

Controller Options-FIVE AXIS CONTOURING-DYNAMIC CONTROLS TOOLBOX-ENHANCED THROUGHPUT MODULE

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

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

Ensemble Epaq

-ETHERNET/IP

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 ORDERING INFORMATION
Epaq
Epaq-SSix axis, desktop, stand-alone motion controller with integrated power supplies, and servo/stepping motor
amplifiers. Features include independent or coordinated motion, point to point, linear and circular interpolation,
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 USB 2.0 port, one RS-232 port, optional GPIB (IEEE-488) interface-Dedicated I/O per axis includes: CW, CCW, and home limits, marker, Hall effect sensors, enable, fault, for eachaxis
User defined I/O 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

Epaq-RSix 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 circular interpolation,
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 USB 2.0 Port, one RS-232 port, optional GPIB (IEEE-488) interface-Dedicated I/O per axis includes: CW, CCW, and home limits, marker, Hall effect sensors, enable, fault, for eachaxis
-User defined I/O 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

Standard or Blank Front Panel (must select one)
-FPB
-FPD
-FPBE
-FPDE

Blank front panel (without display or keypad)
Standard front panel (with display and keypad)
Blank front panel with ESTOP switch (without display or keypad)
Standard front panel with ESTOP switch (with display and keypad)

Line Voltage (must select one)
/A
/B
/C
/D

115 VAC line voltage
230 VAC line voltage
100 VAC line voltage
200 VAC line voltage

www.aerotech.com

7

Ensemble Epaq

Motion Controllers

Epaq ORDERING INFORMATIONBus Power Supply
40
40LP
80
80LP
10B
20B
30B
40B

40 VDC motor supply, 600 W
40 VDC motor supply, 300 W
80 VDC motor supply, 600 W
80 VDC motor supply, 300 W±10 VDC bipolar motor supply, 400 W±20 VDC bipolar motor supply, 400 W±30 VDC bipolar motor supply, 400 W±40 VDC bipolar motor supply, 600 W

Axis 1 Amplifier Options (must select one)
/1-MP10I/1-MP10MI/1-ML10I/1-ML10MI/1-ML10HI

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) with I/O option
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) with I/O option
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 (must select one)
/2-MP10/2-MP10I/2-MP10M/2-MP10MI/2-BLANK/2-BLANKW/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
No amplifier
No amplifier, pre-wired only
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 (must select one)
/3-MP10/3-MP10I/3-MP10M/3-MP10MI/3-BLANK/3-BLANKW/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
No amplifier
No amplifier, prewired only
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 4 Amplifier Options (must select one)
/4-MP10/4-MP10I/4-MP10M/4-MP10MI/4-BLANK/4-BLANKW/4-ML10/4-ML10I/4-ML10M

8

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 with x4096 MXU(1) with I/O option
No amplifier
No amplifier, prewired only
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)www.aerotech.com

Epaq ORDERING INFORMATION
Motion Controllers/4-ML10MI/4-ML10H/4-ML10HI

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 5 Amplifier Options (must select one)
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
No amplifier
No amplifier, prewired only
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

/5-MP10/5-MP10I/5-MP10M/5-MP10MI/5-BLANK/5-BLANKW/5-ML10/5-ML10I/5-ML10M/5-ML10MI/5-ML10H/5-ML10HI

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

Axis 6 Amplifier Options (must select one)
/6-MP10/6-MP10I/6-MP10M/6-MP10MI/6-BLANK/6-BLANKW/6-ML10/6-ML10I/6-ML10M/6-ML10MI/6-ML10H/6-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
No amplifier
No amplifier, prewired only
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).

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 2 selections allowable)/BRAKE-1/BRAKE-2/BRAKE-3/BRAKE-4/BRAKE-5/BRAKE-6

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 2 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 2 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 2 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)
Axis 2 wired for 24 V, 1 A brake (amp must have “I” or “MI” option)www.aerotech.com

9Ensemble Epaq

Motion Controllers

Epaq ORDERING INFORMATION
Options (multiple selections allowable)/JBV/JI/ESTOP0/ESTOP1/GPIB/EXTAMP/SLIDE/RS232-2

Joystick with 5 ft cable
Industrial joystick with 5 ft cable
Provides user with a mushroom switch on front panel to stop motion, disable, and disconnect AC to motor power
supply; requires -FPDE or -FPBE options
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; not compatible with -FPBE or FPDE; user must provide external ESTOP switch and wiring to the
Epaq
IEEE-488 GPIB interface (talker/listener)
External amplifier interface connector
Rack-mount slides to be used with Epaq-R
Second RS-232 interface port

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

CABLE: 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

Accessories
/JBV
/JI

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Joystick with 5 ft cable
Industrial joystick with 5 ft cablewww.aerotech.com