The Epaq has been designed with the general purpose user and laboratory researcher in mind, but its modular design and flexibility allows considerable scalability
Aerotech's Ensemble Epaq is an integrated, six-axis desktop or 19 inch rack mounted motion control and drive system aimed at applications ranging from general purpose positioning and laboratory research through to advanced OEM systems.
With integral 10A peak amplifiers, capable of driving and controlling linear and rotary brushless, brushed and micro-stepping motors, the Epaq may be expanded to control a further three external drives offering nine axes of completely co-ordinated motion and machine control from a single competitively priced unit.
Based upon Aerotech's A3200 and Soloist motion control platforms, the Epaq features Integrated Development Environment (IDE), Windows based, HMI software that is simple to operate and adapt but is also able handle the most complex motion control tasks.
The long list of application specific features covers multi-axis contouring, electronic gearing, position latching and velocity profiling with integrated I/O control and multitasking programming in a wide choice of languages including Aerobasic, Microsoft.net including C#, VB.net, Native MFC C++ and Labview.
Advanced diagnostics and autotuning are available through Windows and a front panel LCD display with integral five-key control pad or an optional joystick is provided for menu driven manual positioning and axis status.
An Ascii interface is also provided for Windows or non-Windows users (including Linux) where Epaq may be interfaced and commanded through standard ethernet, USB, RS232 port or an optional IEEE-488.
Ensemble Epaq allows users to seamlessly mix up to six integral drives (PWM or linear brushless, brushed DC and microstepping) and feedback systems to exactly suit the application.
This is particularly useful for general purpose and laboratory based work where the Epaq may be easily reconfigured from project to project, saving overall costs and extending the useful life of the motion control system.
High precision direct-drive motor technologies may be freely mixed with traditional brushed and brushless servo motors, open loop and stepper motors for maximum flexibility.
A further three external drives may be added to the motion system essentially for any power rating and technology - allowing the user to select drives of up to 100A peak power rating from Aerotech's own range or even higher power ratings from other drive manufacturers.
The Ensemble Epaq benefits from a 225MHz double precision floating point DSP that allows multitasking motion coordination with each axis capable of a 20KHz PID servo update rate.
Processing execution time is under 1ms for each 1000 lines of multitasking code.
This performance in combination with 6 channel encoder interfacing, with a 20MHz input data rate and 1024-times interpolation, suits the most advanced and complex motion applications.
High speed interrupts and position latching provide data logging capabilities and real time links to external systems.
Aerotech's extensive software command-set fully complements this processing power with advanced features such as 2D error mapping and single-axis PSO (position synchronised output) which allows ultra precise output on-the-fly for laser users and other applications such as high definition imaging and non destructive testing.
Although well suited to complex tasks, the Epaq is equally at home and competitive priced for simple point-to-point and basic motion/machine control functions.
The Windows based Integrated Development Environment features an HMI based graphical user interface with an intuitive program editor that allows users to begin programming immediately in a non-cryptic and simple command set with on-line help and example motion programs that are easily modified to suit customers' applications.
Output windows for axis control, I/O, diagnostics, variables, compiler, and task state allows users to monitor all motion and machine control parameters.
Full diagnostics and autotuning utilities are also available to simplify set-up and troubleshooting.
Ensemble Epaq features a wide range of standard and optional interfacing to allow customers to precisely match application requirements.
On each desktop or rack mounted Epaq, standard interfaces are provided for ethernet, USB 2.0, RS 232 and joystick with options of an IEEE-488 parallel port, second RS232, and an axis expansion port.
On each axis, the I/O complement covers one 16-bit +/-10VDC motor command analogue input, home and over travel limit inputs, hall inputs for motor commutation and an Estop input.
Optional per-axis interfacing includes eight opto-isolated 5-24VDC digital I/O, one 16-bit +/-5VDC output, one 12-bit +/-10VDC analogue input, a configurable brake output, a second encoder for dual loop control and either a second high speed marker input or a PSO high speed output.
It is envisaged that Ensemble Epaq will be used with Aerotech's wide range of mechanical positioning systems with direct-drive linear and rotary servo motors or mixed with the customers' own positioning solutions.
The Epaq has been designed with the general purpose user and laboratory researcher in mind but as its modular design and flexibility allows considerable scalability, the integrated motion control and drive system should also be of interest to OEMs of medical and electronics packaging systems, laboratory and scientific analysis equipment manufacturers and other processing and test based automation users.
