dedicated to the science of motion · 2019. 11. 21. · 101 zeta drive, pittsburgh, pa 15238 ph:...

Dedicated to the Science of Motion

A e r o t e c h W o r l d w i d eUnited States • France • Germany • United Kingdom • China • Japan• Taiwan

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Contents

WORLD HEADQUARTERSAerotech, Inc.101 Zeta Drive, Pittsburgh, PA 15238Ph: 412-963-7470 • Fax: 412-963-7459Email: [email protected]

Aerotech, Ltd.Jupiter House, Calleva Park, Aldermaston, Berkshire, RG7 8NN, UKPh: +44-118-9409400 • Fax: +44-118-9409401Email: [email protected]

Aerotech GmbHSüdwestpark 90, 90449 Nürnberg, GermanyPh: +49-911-9679370 • Fax: +49-911-96793720Email: [email protected]

Aerotech KK17-25 1-chome, Kitahoncho Funabashi-shi,Chiba-ken, 273-0864, JapanPh: +81-47-489-1741Email: [email protected]

Aerotech ChinaUnit 3315, 33/F, China Merchants Tower, 168 Connaught Road Central, Hong KongPh: +852-3793-3488Email: [email protected]

Aerotech Taiwan1F No. 42 Lane 128, Jingye 1st Road, Taipei City, 10462 Taiwan (R.O.C.)Ph: +886-02-8502-6651Email: [email protected]

Aerotech FranceBP 70043, 45702 Villemandeur Cedex, FrancePh: +33-238970830Email: [email protected]

IntroductionAerotech Integrated Automation SolutionsMotion Composer SoftwareSetup and ConfigurationAdvanced Diagnostic and Tuning CapabilitiesIntegrated Development Environment and .NETIntegrated Automation: MotionPAC – PLC and MotionOperator InterfaceSoftware ArchitectureController ArchitectureAutomation 3200 Digital Automation PlatformEnsemble Stand-Alone Multi-Axis ControllerSoloist Stand-Alone Single-Axis ControllerController and Drive TechnologyController FeaturesStandard Control CapabilitiesAdvanced Control CapabilitiesFieldbus and NetworkingQuick ReferenceController Comparison ChartHardware Comparison ChartServomotorsCorporate OverviewMarkets and IndustriesWorldwide Training and SupportISO CertificationAerotech at a Glance

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Copyright © 2013, Aerotech, Inc.Information in this brochure is subject to change without notice.

3World Headquarters, Aerotech Inc., U.S.A. 412-963-7470 • United Kingdom +44-118-9409400 • Germany +49-911-9679370 • Japan +81-47-489-1741 • Hong Kong +852-3793-3488 • Aerotech Taiwan +886-02-8502-6651 • Aerotech France +33-238970830

Aerotech’sAdvanced Automation Technologies:40 years in the making... and going strong...

• Controls

• Software

• Amplifiers

• Motors

• PLC

• Fieldbus

• I/O

• Vision

• Peripherals

• Robotics

• Data Acquisition

AerotechIntegratedAutomationSolutions• High performance• Easy to use• Flexible• Scalable• Networked• Lowest cost of ownership• Advanced control technology

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Automation 3200• PC-based• 1 to 32 axes of coordinated motion• Up to 32 tasks• RS-274 (G-code)• Advanced features for demanding applications• PWM or linear drives (up to 150 A)• Scanner control for marking• Tightly integrated laser functionality • Retro-fit package for old controls• Integrated PLC and Motion - MotionPAC

Ensemble™• Stand-alone• 1 to 10 axis controller• Up to 4 tasks• Versatile, cost-effective,

coordinated motion• PWM or linear drives

(10-150 A peak)• Drives brushless, linear, rotary,

DC brush or stepper motors• Desktop, rack mount or panel mount

Common Software Platform: Tools, Powerful Programming

Diagnostics Autotune PID Calculator

Develop your own applications with .NET, C#, VB.NET, C,

Award-Winning Controllers

Configure Your Automation Solution with Aerotech

Accessories


Soloist™• Stand-alone • Network up to 1024 single axes• Up to 4 tasks• Elegant, economical, versatile controller• PWM or linear drives (10-150 A peak)• Drives brushless, linear, rotary, DC brush

or stepper motors

Environment, Calculators, Diagnostics

PLCLoop Transmission

LabVI EW®, Tango, AeroBasic™ or PLC languages

Linear and Rotary Servomotors

• EtherCAT™

• Ethernet TCP/IP• USB• GPIB

Fieldbus and Network Connectivity• EtherNet/IP™

• PROFINET• Modbus®/TCP• RS-232

Data Acquisition

Sensor Fusion• Collect motion and

I/O signals at exactlythe same time

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ScalableAutomationControlSoftware forSimpleApplicationsand thePower User

• Configuration Manager to organize your applications

• Calculators for quick and easy setup

• Extensive diagnostics for commissioning

• Integrated DevelopmentEnvironment for fast development

• Data Acquisition and Analysis Tools for increasing performance

• Fully compliant .NET 2.0shortens the development cycle

Motion Composer: Use the sameAerotech software with theA3200, Ensemble, or Soloist

Integrated Configuration Manager for Easy Setup

Standard Windows®

menus

See all the controllerson the network

File space on thecontroller

Work with thiscontroller

Compare parameterfiles

Tool tips Standard motiontoolbars

Configurableworkspace with yourpreferences

Context sensitiveintegrated help

Hyperlink toassociated subjects

Network Explorer forproject management

Extensive calculatorsfor system setup


Calculators for Quick and Easy Setup

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Select your motor oradd a custom motor

System knows allparameters ofAerotech components

Easily switch axis to beconfigured

Directly enter anyparameter values here

Select amplifier type

Summary of default,current and newvalues for allparameters

Configure feedbackfor user units

PID gain calculator

Current loopcalculator

Extensive Diagnostics for all System Signals andVariables Shortens Debug and Startup Time

Multiple tabs fororganizedprogramming

View task status asneeded

Watch any variablesas the program runs

Pop-up error reporting

Compiler outputscreen

Standard toolbar forprogram control

Issue immediatecommands withoutoperator interfaceopen

Real-time readout ofsystem state variables

Real-time access to system signals

Real-time reporting of all faults

Real-time systeminformation

Dockable windows for custom workenvironment

Configurable to seeonly the informationyou want


Control all axes atonce

Axis toolbar for control of eachaxis

System toolbar forsystem control

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Advanced Diagnostic and Tuning Capabilities MinimizeStartup Time and Allow Easy Optimization of Motion

Current andrecommended gainspop up after each run

Save plots for futurereference

Use sinusoidal sweepor white noise method

Automatic calculationof PID-FF gains

Input amplitude andfrequency range fortest

Select desired systembandwidth and phasemargin

Scope, tuning anddata collection fullyintegrated withcontroller


Use Encoder Tuning Tool toIncrease System Accuracy

Graphical display ofthe Lissajous plot tooptimize the encodersignal

Actual encoderperformance

Optimally calculatesgain and phase ofamplified sine encoderchannels in seconds

One click tuning

Fully integrated with controller

Loop Transmission is a Tuning and Diagnostic Utilitythat Greatly Enhances System Performance

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Frequency responsebetween any twosystem statevariables*

Analyze position loop,velocity loop orcurrent loop

Open or closed loop response

Cross-axis looptransmission tooptimize multi-axisperformance*

Graphical loopshaping — add filtersor change gain bydragging the gaincurve, and the filtercoefficients and PIDgains are calculatedautomatically

Automatic calculationof gain margin

Identify resonances and use filters

Calculator and loopshaping to increaseperformance

Automatic calculationof phase margin

System frequencyresponse or Bode plot

*Coming Soon

Fully Integrated Digital Filter Calculator Makes Performance Enhancements Easy

Select your filter type:low pass, high pass,notch, resonant,lead/lag

Axis selection

Add up to eight filters per axis

Configure filters foryour application byspecifying frequency,depth and width

Discrete time gains areautomaticallycalculated and storedin the parameter file

Composite frequencyresponse of all filters

Store all parameters inthe parameter file

Cursor control to readout gain and phase


Integrated I/O Panel for Debug, Commissioning or Operations

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Monitor digital I/Ocontrol

View I/O axisinformation andprogram at the sametime

Monitor analog I/O

Set digital I/O duringtest and commissioning

Use the I/O panelduring programming totest as you go

Tool tip provides physical connector and pin on the drive toeasily associateelectrical wiring withsoftware variables

Set analog I/O during commissioning for easy testing


Integrated Development EnvironmentShortens Development Time

Hide the axis managerwhile programming tosee more code Minimize development

time with debugfeatures, break point,step in and step over

Detailed errorexplanation in errorlist

Link to help file for description of error

Full diagnosticinstrumentation whiledebugging

Visual Studio®- likeproject managementfor advancedprogramming

Insert breakpoints todebug program

Powerful IntelliSense®

capability

Low learning curvewith strictimplementation of.NET namingconventions

Watch window showsvariable values foreasy debugging

Create Reusable Modules with AeroBasic™

Write easy-to-read andmaintainable code byusing #define (ratherthan numeric constants)

Create reusable codewith libraries and#include files Advanced

programmingtechniques result incode that is easy toread, simple tomaintain and reusablefor other projects

Real-time codeenvironment

Protect intellectualproperty by using alibrary; permit or denyend users access tosource code

Built-in softwaresecurity key for OEMs

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Create Easy to Maintain Code with AeroBasic™

User definedvariable types allowan object-orientedapproach to systemdesign

Advanced variabletypes such as arraysand strings allow formore advancedprogram design

Use structures todefine your own datatypes

Keeping all motioncode in one functioncreates modularity,which brings productsto market faster andreduces maintenancecost

Memory managementis done by theoperating system

Variable initializationreduces code size andincreases readabilityfor multiple developers

Standard programflow:while/wendfor/nextrepeatif/then/else


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Program in IEC 61131-3: LD, FBD, STIntegratedAutomation:MotionPAC• 30% to 50% reduction in

development time

• High-performance motion fullyintegrated with standard PLCenvironment

• Easy-to-use diagnostics andtools

• Standards & Flexibility: IEC 61131-3, .NET, PLCopen, PC-based

Define hardwareOnline mode displaysall Tag values

Axis manager Standard LDCreate libraries

Combine LD and FBDin the same program

Completely integratedmotion blocks

Tag database

LD, FBD or STprograms

Integrated Automation: MotionPAC – PLC and Motion


MotionPAC• IEC 61131-3• PLCopen• Aerotech motion blocks• Axis manager• Extensive development & debug

environment• Simulate program

MotionComposer• Axis manager• Low-level motion

diagnostics• Motion programming• Advanced control

algorithms

Scope• Signal capture &

analysis• Autotuning• Loop transmission• Encoder tuning• Advanced controls

HMI• Program

selection and run• Jog panel• Machine control• Customizable

buttons• Axis manager

I/O & DataAcquisition• High-speed data

acquisitionsynchronized withmotion & PLC

• High-speed registration• Position Synchronized

Output• Machine interlocks• Fieldbus I/O

Central MachineTag Database• Tags available in all

applications by name• Define both local or global

machine Tags• Define Tags in I/O definition,

ST, LD, FBD or motion program

Use Tags in Operator Interface by Name

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View CNC coderunning at same timeas PLC code

Use shared Tagsdefined in MotionPACby name in a buttonaction

Use shared Tags by name inprogram called by a button click

Standard PLC Functions: IEC 61131-3


Ladder Diagram• VALUE• TRUE• FALSE• COMMENT• CONNECTOR• JUMP• LABEL• RETURN• CONTACT (NO, NC)• COIL• LEFT POWERRAIL• RIGHT POWERRAIL

Function Blocks• CTD• CTU• CTUD• F_TRIG• R_TRIG• RS• SR• TOF• TOF_R• TON• TON_R• TP• TP_R

Motion Blocks (Partial List)• MoveAbsolute • MoveRelative • MoveSuperimposed • MoveVelocity • Home • Stop • PositionProfile • MoveContinuous • Halt• CamIn/CamOut• CamTableSelect• GearInPos• GearIn/GearOut• Phasing

Administrative MotionBlocks (Partial List)• ReadStatus • ReadAxisError • ReadParameter • WriteParameter • ReadActualPosition • AbortTrigger • ReadDigitalInput • ReadDigitalOutput• WriteDigitalOutput • SetPosition

Functions (Partial List)• ABS• ACOS• B_BCD_TO_DINT• B_BCD_TO_INT• DELETE• DINT_TO_BOOL• EXP• EXPT• FIND• GE• GE_STRING• INT_TO_BOOL• INT _TO_BYTE• INT _TO_DINT• INT _TO_DWORD• LE• LE_TRING• LEFT• LEN• MULTIME• NE• OR• REAL_TO_BOOL• SEL_TO_BOOL• SEL _TO_BYTE• TRUNC _SINT• UDINT_TO_BOOL

One I/O and Data Dictionary for the Machine

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I/O available in allapplications: scope,configurator,MotionPAC (PLC) andMotion Composer

Memory managementautomatically done bythe MotionPAC

Easily map I/O toprogram Tags

I/O defined in oneplace

Drive I/O connectedto system

Fieldbus I/O connectedto the system

Use Scope to Plot any Motion, PLC, I/O, Variable or Tag


Motion variables

PLC Tags

All information inGlobal Tag databaseavailable for real timeplotting and analysiswith all motionvariables

SDK:SoftwareDevelopmentKit• Easy to use• Faster development• Lower maintenance cost

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Use the Aerotech standard GUI......or build a custom interface for your application

• C#• VB.NET®

• Managed C++• LabVIEW® (VIs provided)• C Library• EPICS

.NET Library• High-end motion with a custom GUI• Use the best language for the application• Fully functional libraries for each language


All Aerotech applications are written using the .NET library.Aerotech provides customers with the same tools used at Aerotech.

Take Advantage of:

• .NET Framework 2.0- Generics- Enumerations- Indexers- Events- Exceptions

• Object Model- Well-organized structure with two main classes:

network and controllers- Common features are higher in the hierarchy- Minimal code required to accomplish the task at hand

• Libraries Include:- Initialization functions- Global data functions- Motion functions- Error handling- Status and position functions- Analog and digital I/O functions- Parameter functions- Run CNC program functions- Utility functions- Get and set variable functions

Object Model

Motion Designer:Graphical Trajectory Generation and Data Analysis

Perform data analysissuch as FFT, max, min,average, rms andstandard deviationfrom an existingtrajectory fordiagnosing systemperformance Import existing

position, velocity oracceleration data

Cursor control

Apply filters to shape the trajectoryfrequency content

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Create and modifymulti-axis trajectoriesusing predefinedbuilding blocks toprovide rapid motionprototyping

Add standard filtertypes: notch, resonant,low pass and highpass

Enter standard filterfrequency parameters

Digital filter coefficientsare automaticallycalculated

View the compositefilter before applyingto the trajectory

Cursor control

Automatic AeroBasic™

program generationfor all controllers

Rapid motionprogramming

Point-to-point moves

Overlay multiple trialsfor easy comparison

Easily modify anexisting trajectory

Create periodicmotion

Project tree for simpleorganization

Trajectory properties(e.g., user units)

Automaticallycalculates missing state information (e.g., acceleration,velocity or position)


Applications• Dynamic environment simulation• Sensor or component testing• Gyros or accelerometers; tracking or beam-steering gimbals• Crash sensors and roll-over sensors

• Minimize programming time• Import actual data• Import from Excel or MATLAB®

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MotionSimulator –GUI• Operate 1,2,3 axis motion

simulators• Frequency response mode allows

input sine sweep and UUTperformance tests on customerdevice

• Harmonic Cancellation optimizesmotion position errors generated bysinusoidal motion

Aerotech’s Motion Simulator software is an easy-to-use Windows®-based programfor creating simple and advanced motion stimuli for testing and calibrating inertialsensors and systems. The Aerotech Motion Simulator software includes all controlsfor manually or automatically running 1-3 axis motion simulations. The GUI providesa user interface and programming environment that requires no third-partydevelopment software.

Key Features:

• User-friendly Windows®-based graphical userinterface

• Trajectory tracking from Ethernet, analog orWindows® program inputs

• Iterative Learning minimizes position error

• Overlap multiple runs of a trajectory to easilysee how program changes modify the motion

• Perform data analysis such as FFT, max, min,average, rms and standard deviation from anexisting trajectory for diagnosing systemperformance

• Data input file formats include Excel, CSV orMATLAB®; Motion Simulator can calculate themissing state variables

Aerotech Motion Simulator – The Integrated,Easy to Use, Graphical Trajectory Generation,Data Analysis and Enhanced MachinePerformance Toolkit.


Motion Designer

Frequency Response

Data Analysis

Main Screen

Program

Track screen allows external signal selection for tracking

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OperatorInterface• Use the Aerotech Operator

Interface (OI) for fastdeployment

• Customize the OI to suit theapplication

• User customizable buttons thatcan execute standard G-code andAeroBasic™

• Quickly build a new interface inthe OI builder*

• Import and export to VisualStudio® for flexibility*

Configurable axismanager

Issue immediatecommands

Configurable jog pad

Usercustomizablebuttons

Standardmachine controls

Active programDesigned fortouch screen

Set up simple orcomplex action —user can attach astandard G-codeprogram to abutton

*Coming Soon

Configurable Operator Interface

Advanced Software Architecture• Layered for flexibility• Customizable at many layers• Most cost-effective solution


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Digital AutomationPlatform• Higher throughput due to high

performance control, networkand high-power drives

• Higher accuracy and repeatabilitydue to all digital drives andadvanced servo algorithms

• Faster startup and changeoverresults from fully integratedmotion platform, easy-to-use setuptools and extensive diagnostics

• Lower startup and life-cycle costdue to less components andreduced engineering

• Higher reliability due to fewercomponents

• Simplified integration

Distributed Motion Control• Motion trajectory generation and synchronization are

centralized at the PC• Motion execution is decentralized at the drives• A3200 operates on any standard desktop or industrial PC• Servo loops are closed on the drive

Any ServoAmplifier

Use Nservo toRetrofit ExistingMotors & Drives orDrive Large Motors

AnyStepperDrive

AnyStepperMotor

AGVGalvoControl

®

NstepNservo

Npaq® 6-Axis HighPerformance Drive Rack

Remote Server OptionOperator Interface PC

Ethernet

FireWire®

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A3200 AutomationController

The Intelligent 32-Axis Motion, Vision,PLC, Robotics and I/O Platform• Easily installed digital drives • FireWire® (IEEE-1394) industry standard, high-performance

motion bus

Any Brush, Brushless or Stepper Motorwith any Drive

Ethernet

FireWire®

Ndrive CP

Ndrive HLeNdrive HPe

Ndrive MPNdrive ML

Ndrive CL

Robotics

Easily integrates withKeyence LK-G Series LaserDisplacement Sensors

Analog andDiscrete I/O

Nmark SSaM

Ethernet I/OExpansion

Digital Drive Features• PWM or linear (10 A to 150 A peak)• Integrated 10/100 Base-T Ethernet• Encoder, resolver or inductosyn feedback• Onboard x65536 encoder multiplication• 20 kHz position, velocity and

current-loop sample rate• Integral power supply• Sinusoidal commutation• Local I/O ports

Smart Camera

FieldbusInterface


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Stand-AloneMulti-AxisAutomationController• Easy to use• Powerful architecture• Distributed control• Network ready

®

6-Axis Stand-Alone,Rack Mount or DesktopPlus Three Axes

JoystickSmart Camera

Handwheel

EPICS

Modbus® TCP

USB

RS-232

Ethernet TCP/IPUSB

RS-232EtherNet/IP™

Modbus® TCPEPICS

Maple or PC

Ethernet TCP/IP

Master

BrushlessLinear Motors

IEEE-488

EtherNet/IP™

Modbus® TCP

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Applications• Semiconductor

• Medical

• Test and Inspection

• Packaging

Capability• Point-to-Point

• Linear and Circular Interpolation

• Electronic Gearing

• Velocity Profiling

• Gantry

Software, Controls, Drives and I/O... All in One Package

Efficient motionprogrammingwith IDE

10-Axis, Stand-Alone, All Digital, Panel-Mount Controllers

Joystick

Ethernet TCP/IP

USB

RS-232

AeroNet from 10 to 150 A peak

EnsembleCL Ensemble

HLe

EnsembleMP

EnsembleCP Ensemble

HPe EnsembleML

BrushlessSlotlessMotors

StepperMotors

BrushlessServomotors

SlotlessMotors

DC BrushMotors

Easily integrates withKeyence LK-G Series LaserDisplacement Sensors


EtherNet/IP™Modbus® TCP

Ethernet TCP/IP

USB

RS-232

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Stand-AloneSingle-Axis AutomationController• Easy to use• Scalable• Ethernet/USB connectivity

OperatorInterface

Joystick

Analog

Ethernet

Modbus® TCP

Modbus® TCP

EtherNet/IP™

Modbus®

RS-232

QuadratureEncoder

Handwheel

DC Brush Motors

BrushlessServomotor

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SlotlessMotors

BrushlessServomotors

ASR2000Spindle

Connect, program ormonitor locally or remotely

LAN/WAN/Internet up to1024 on one network

BrushlessLinear Motors Stepper

Motors

Soloist HPe 150Soloist HPe

Soloist CP Soloist MP Soloist MLSoloist CL

Soloist HLe

Software, Controls, Drives and I/O in One Compact Packagefrom 10 to 150 A peak

Easily integrates withKeyence LK-G SeriesLaser DisplacementSensors


Ndrive® CPEnsemble® CPSoloist® CPWidth: 63.5 mmHeight: 198.2 mm

Controller and Drive Technology

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LED StatusIndicators

Motor FeedbackConnector (J103)

Eight Opto-IsolatedOutputs, CommonSink or CommonSource (UserDefined)(TB204)

Motor Output10-80 VDC, 10 Apk

Emergency Stop SenseInput (TB101, Top)

Second EncoderInterface (J201)

Two 16-Bit AnalogInputs, One AnalogOutput (TB201)

Eight Opto-IsolatedOutputs, Common Sinkor Common Source(User Defined) (TB202)

Eight Opto-IsolatedOutputs, Common Sinkor Common Source(User Defined) (TB203)

Eight Opto-IsolatedInputs, Common Sink orCommon Source (UserDefined) (TB204)

Eight Opto-IsolatedInputs, Common Sinkor Common Source(User Defined) (TB205)

Brake Relay (TB206)

Brake Relay (TB201)

One 12-Bit AnalogInput and One16-BitAnalog Output(TB202)

Eight Opto-IsolatedInputs, Common Sinkor Common Source(User Defined)(TB203)

10-80 VDC BusVoltage Input

24-80 VDC, 2 A MaxLogic Power Input

(TB103, Bottom)

Ndrive® MPEnsemble® MPSoloist® MP


Ethernet TCP/IP(J101, J102)

Motor FeedbackConnector

(J103)

Emergency StopSense Input

(TB101)

Auxiliary I/O(J104)

7-240 VACSingle-Phase

Input

Motor Output10-320 VDC, 10-30 Apk

Control Supply(Bottom)

FireWire®

(IEEE-1394)(J101, J102)

Width: 41.1 mmHeight: 141.2 mm


Model shown is10 to 30 ampspeak with I/Oexpansion

PSO/AbsoluteEncoder Interface(J301)

Two Channels SSINetfor Buffered RS-422(Multiplied) EncoderIN/OUT (J302, J303)

Two 16-Bit AnalogInputs (TB302)

User Power (TB303)

Eight Opto-IsolatedOutputs, Common Sinkor Common Source(User-Defined) (TB304)

Eight Opto-IsolatedInputs, Common Sink orCommon Source(User-Defined) (TB305)

FireWire®

(IEEE-1394)(J201, J202,J203)

Control Supply

1-3 Phase 7-240 VAC50/60 Hz

3 Phase 10-320 VDC

Motor Output 10-30 Apk

Power LED

Emergency StopSense Input

(TB201)

Auxiliary I/O(J205)

RS-232 (J206)

Resolver Interface(Opt) (J401, J402)

Motor Feedback Connector (J207)

Ndrive® HPeEnsemble® HPeSoloist® HPeWidth: 99.1 mmHeight: 232.5 mm

Ndrive® HPeEnsemble® HPeSoloist® HPeWidth: 212.6 mmHeight: 234.8 mm

LED Status Indicators

Two 18-Bit Analog Outputsand Brake Relay (TB301)

1-3 Phase 7-240 VAC50/60 Hz

Ethernet (J204)


Communication Channel(Device #) Settings

Resolver Interface(Opt) (J401, J402)

IEEE-1397 FireWire®

(J201, J202, J203)

PSO/Absolute EncoderInterface (J301)

Two Channels SSINetfor Buffered RS-422(Multiplied) EncoderIN/OUT (J302, J303)

Two 18-Bit AnalogOutputs and Brake Relay(TB301)


User Power (TB303)

Eight Opto-IsolatedOutputs, Common Sinkor Common Source(User-Defined) (TB304)

Eight Opto-IsolatedInputs, Common Sink orCommon Source (User-Defined) (TB305)


Emergency Stop SenseInput (TB201)

RS-232 (J206)

Auxiliary I/O (J205)

3 Phase 10-320 VDC

Motor Output50-100 Apk

Control Supply

External Shunt

Power LED

Ethernet (J204)

Model shown is50 to 100 ampspeak with I/Oexpansion

• MP for OEMs lowers costs • CP solutions for lessintegration work

• HPe for the highest performance solution

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Ndrive® MLEnsemble® MLSoloist® MLWidth: 41.1 mmHeight: 141.2 mm

Ndrive® HPe150Ensemble® HPe150Soloist® HPe150Width: 229.7 mmHeight: 406.1 mm

Line Supply

Motor Power

External Shunt

Relay

Resolver

USB

Ethernet

Brake Power

AdditionalDigital andAnalog I/O

Control Supply

Auxiliary I/O

RS-232

ESTOP

Motor Feedback


MotorFeedbackConnector

(J103)

Eight Opto-IsolatedOutputs,CommonSink orCommonSource (UserDefined)(TB204)

Motor Output±40 VDC, 10 Apk

Emergency StopSense Input(TB101, Top)

Second EncoderInterface (J201)

Brake Relay(TB201)

One 12-BitAnalog Inputand One16-BitAnalog Output(TB202)

Eight Opto-Isolated Inputs,Common Sinkor CommonSource (UserDefined)(TB203)

±40 VDC BusVoltage Input

24 VDC, 2 A MaxLogic Power Input

(TB103, Bottom)

Ethernet(IEEE-1394)

(J101, J102)

FireWire® (IEEE-1394)(J201, J202, J203)

Motor Output (TB101)

Ethernet(J204)

Auxiliary I/O (J205)

LED Status Indicators

RS-232 (J206)

Two 18-Bit Analog Outputs/Brake Relay (TB301)


User Power (TB303)

Eight Opto-IsolatedOutputs, Common Sinkor Common Source (User-Defined)(TB304)

Eight Opto-IsolatedInputs, Common Sinkor Common Source(User-Defined)(TB305)

Two Channels SSINet forBuffered RS-422(Multiplied) EncoderIN/OUT (J302, J303)

Main SupplyAC1, AC2, Ground

Power/Enabled LED

Emergency Stop SenseInput (TB201)


PSO/Absolute EncoderInterface (J301)

Resolver Interface (Opt)(J401, J402)

Control Supply


Ndrive® CLEnsemble® CLSoloist® CLWidth: 103.7 mmHeight: 265.2 mm

LED Indicators12-Bit Analog Input16-Bit Analog Output(TB201)

Sixteen Opto-IsolatedOutputs, CommonSink or CommonSource (user defined)(TB202, TB203)

Sixteen Opto-IsolatedInputs, Common Sinkor Common Source(user defined)(TB204, TB205)

Relay (TB206)

Ethernet (J103)

MotorFeedback

(J104)

ESTOP (TB101)

Auxiliary I/O(J105)

Motor Power Supply(AC1, CT, AC2)

Motor Output(A,B,C)

Ndrive® HLeEnsemble® HLeSoloist® HLeWidth: 206.9 mmHeight: 234.3 mm

Applications• Nondestructive testing• Stencil cutting• Any small move, or

sinusoidal movements

• Very slow velocity applications• Stent manufacturing• Target tracking• Piezo stages

Linear Drive Advantages• Ultra-smooth motion during reversals• Superior in-position stability• Integrated with controls

• No switching noise• No dead band• Low EMI

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NstepWidth: 49.2 mmHeight: 161.8 mm

Reset LED Power LED

Enabled LEDsAxis 3 and 4

AmplifierInterface Axis 3

Encoder InputAxis 3


Encoder InputAxis 4

One Input and Output per Axisand Sixteen Additional I/O Points

Enable LEDsAxis 1 and 2

FireWire®


Encoder InputAxis 1


Encoder InputAxis 2

Nmark™ CLS

FireWire®

3-Axis GalvoMotor andFeedback

3-Axis Servo FeedbackInput (Not Shown inCurrent View)

Opto-Isolated I/O

Laser Interface

Analog I/O

Laser InputPolarity Switch

Width: 90.5 mmHeight: 210.8 mm


NservoWidth: 87.6 mmHeight: 230.4 mm

4 Axis or LessWidth: 284.5 mmHeight: 276.9 mm

Analog I/O ESTOP andExtra Encoder

Channel

EightOpto-Outputs

EightOpto-Inputs

PSO andBrake

Analog I/O ESTOP andExtra Encoder

Channel

EightOpto-Outputs

EightOpto-Inputs

PSO andBrake

General Purpose48 Bit I/O

AmplifierEnable, ActiveState Selection

General Purpose48-Bit I/O

FireWire®

(J101, J102)

Ethernet(J103)

LED Indicators(J103)

AC Input

4-AxisOption

Nservo - OEM

AC Input

EncoderLimits andMotor Power

FireWire®

OptionalPower

Supply

44 www.aerotech.com


Npaq® MR/Epaq MR8 Axis or LessWidth: 436.7 mmHeight: 132.0 mm

FireWire®

Joystick

AnalogConnection

I/O Encoder Motor 115 VAC or220 VAC

ESTOP

Power Switch

Npaq®


Console

LaserFeedback(Optional)

Resolver Inputs (Optional)

AC Power Input Motor Output

Analog I/O (Optional)

Emergency Stop (Optional)

Power Switch/Circuit Breaker

FireWire®

CommunicationChannelNumbersUser I/O

Ethernet (Optional)EncoderFeedback


Npaq® and Epaq Rack Mount or DesktopSolutions in One Box Minimize Wiring

Ensemble® Epaq5 Axis or LessWidth: 431.8 mmHeight: 177.8 mm


LCD Screen

Power SwitchESTOP Button(Optional)

DirectionalKeypad Directional

KeypadNumericKeypad

Touch Screen Interface

AC PowerInput

ControlBoard

Options

Axis 1

Axes 2 through 6(Optional)

Ensemble® LAB

Power Switch

USB Port

JogButtons

AC PowerInput

Axes 1 through 4I/O Joystick

ESTOP

USB

Ethernet

46 www.aerotech.com

Standard Control CapabilitiesPoint-to-Point Motion Basic

independent axispositioning withprogrammableaccel/decel andfeedrate.

Arbitrary Path Generation(PVT)

Specify discreteposition, velocityand time and thecontroller willinterpolate tocreate a smooth,contiguous path.

Acceleration Limiting

Electronic Gearing Electronicallycontrol one axisas a simple ratioor as a complexfunction ofanother axis; fireI/O in real timeduring a move.

Parts Rotation Use when a two-dimensional partmust berepeated indifferentorientationswithouttranslating thepart programmany times over.

Coordinated Motion Linear andcircular motionsare supported inall languages.

Anticipate sharpcorners andsmall radius arcs andautomaticallydecelerate asneeded.

On the Fly End-Point Modification

Modify theendpoint duringexecution of themotion profile.

Also known astool radiuscompensation,this featureautomaticallyadjusts the pathto allow for theradius of acutting tool.

Maintains aconstant vectorvelocity alongthe programmedpath.

Velocity ProfilingCutter Compensation

47

Aerotech controllers offer the broadest array of programming interfaces and coremotion capabilities of any automation system available today. Aerotech controllershave the programming flexibility and capability to meet the requirements of themost demanding motion applications of OEMs and end-users alike.

Specify theaccelerationprofile in sevensegments,providing precisecontrol oversystem motion.

Kinematics Executecomplexinversekinematicequationswithin the flowof thetrajectorygeneration.

Retrace a pathblock by block.

Retrace a pathinside a block.

Intra-Block RetraceRetrace

Seven Segment Acceleration

Analog Power Control Adjust the setting of an analogoutput inrelationship to the vector speedof two axes topermit theautomaticregulation of laserpower or materialdispensingprocesses.

Gantry Mode Complex gantrycontrol isreduced to a fewsimplecommands tohandle dualmotor and/ordual feedbackconfigurations.

The velocitychanges to thenext velocitycommand,accelerationlimited, withoutstopping.

Velocity Blending Fast Position Capture Store positionsbased on thetransition of adigital input,allowing closecorrelation ofaxis positions toexternal events.

High-speedregistration totrigger motion is useful inpackaging andlabeling.

High-Speed Registration

World Headquarters, Aerotech Inc., U.S.A. 412-963-7470 • United Kingdom +44-118-9409400 • Germany +49-911-9679370 • Japan +81-47-489-1741 • Hong Kong +852-3793-3488 • Aerotech Taiwan +886-02-8502-6651 • Aerotech France +33-238970830

Standard Control Capabilities

48 www.aerotech.com

Improve X-Yplanar accuracyby simplyentering theknownorthogonalityerror and thecontroller willcompensate.

Axis Calibration Compensate for repeatablemechanicalerrors in apositioningsystem.

3D Error Correction Measure XYZerrors and thecontroller cancorrect thecommandedposition toaccurately moveto all locations inthe 3D space.

Dual-Loop Control Dual-loop controlis used toeliminate theeffects ofbacklash andother sources oferror.

Motor Control All controllersoperate brush,brushless orstepper motors inany combination.

Sinusoidal Commutation Brushless motorsproducesmoothestmotion whensinusoidallycommutated,eliminating theneed for multipletransducers andreducing cabling.

Orthogonality Correction

Analog Feedback For highresolution, shorttravelapplications,linear drivesaccept analoginputs fromanalog sensors.

Resolver/Inductosyn Programmablecarrierfrequencies make resolvers/inductosyns easy to integrate.

Quadrature Encoder Use a standardA,B quadratureencoder,incremental orabsolute.


Systems requiring ultra-highresolution and feedbackstability useinterferometerfeedback.

Laser Interferometer Systems requiringhigh resolutionuse a 1 Vppencoder withAerotechmultiplier, up to65,536 and 2 MHz inputfrequency.

Encoder For dualfeedback systemsuse tach forvelocity controland encoder forposition control.

Tachometer

PIDFF PID digitalcontrol loop withfeedforward forvelocity,acceleration andfriction.

Safe Zones Safe zones canbe set up onmulti-axis systemsto protect againstcrashes.

Slice Move Increasescanningthroughput byblending stepand scan into acontoured move.

Limits Set up hard limitsand soft limits formaximum safetyand flexibility.

Spindle Control Spindlecommands usestandard m-codes.

CAM Profiling Electronicallycommand oneaxis position as afunction ofanother axis witha CAM tableand fire I/Oduring the move.

AdvancedControl:HarmonicCancellation• Reduce position error on periodic

trajectories• Reject periodic disturbances• Built-in setup wizards• Adapts to magnitude and

frequency of error source

Reduce Position Error

Applications• Machining• Spindle Control• Cogging Reduction

• EDM/ECM• MEMS Sensor Testing• Rθ Wafer Inspection

Position error withoutharmonic cancellation Continuously adapts and tracks sinusoids

10 Hz Command; ± 1 mmPosition error withharmonic cancellation

50 www.aerotech.com

• Sensor Testing• Micromachining

Following Error Under Learning Control

Time, ms

Follo

win

g Er

ror,

nm

Final Iteration

AdvancedControl:IterativeLearningControl• Repeating move sequences can be

learned and optimized• Reduce following error• Increase dynamic accuracy• Increase production rates

Applications• Stencil Cutting• Stent Cutting

1st Iteration


AdvancedControl:EnhancedThroughputModule(ETM)• Multi-axis feedforward capability• Faster settling time• Increase rate stability

52 www.aerotech.com

Improved Settling Time

ETM On

ETM Off

Time

Posi

tion

Applications• Pick and Place Machines• Semiconductor Inspection• Genome Sequencing


AdvancedControl:DirectionalGainScheduling• Decrease settle time• Increase in-position stability

System automatically adjusts gain basedon error motion during settling

Dynamic Position Error, Circle XY - Gain Scheduled Kpos

Time (seconds)

Pos

Erro

r x

(μm

)Po

s Er

ror

y (μ

m)

Vect

or P

os E

rror

(μm

)

Time (seconds)

Time (seconds)

NormalGain Scheduled Kpos



AdvancedControl:GantryControl• Both spars are programmed and

commanded as a single axis• Easy homing• Marker offset for high accuracy• Orthogonality correction

Gantry Modes• Current Synchronization• Position Synchronization

Gantry Configuration• 2 Motors, 2 Encoders• 2 Motors, 1 Encoder• 1 Motor, 1 Encoder

54 www.aerotech.com

AdvancedControl: FrictionCompensation• Reduced settle time• Reduced error at direction

reversals


Friction Compensation Results

Advanced Friction Model

High speed, high accelerations and minimal positionerror achieved with feedforward additive force

Velocity (mm/sec)

Without Friction CompensationWith Friction FeedforwardCompensation

Direction Reversal

Measured DataEstimated Data

Cur

rent

(A

mps

)Po

sitio

n

Time

56 www.aerotech.com

Reduce Vibration at the Work PointAdvancedControl:CommandShaping• Increase throughput• Faster settle time at the work point• No additional sensors required• Reduced vibration in point-to-point

moves• Easy tuning

Position error at work point to 30 mm step move

Applications• Pick and Place Machines• Semiconductor Inspection• Genome Sequencing


AdvancedControl:PositionSynchronizedOutput (PSO)• Increase throughput• Higher accuracy• 1-, 2- or 3-axis PSO• Configurable command pulse train

• Use to Trigger• Laser firing• Camera capture• Data acquisition• Nondestructive test triggering

High Accuracy Firing Based onActual Calibrated Encoder Counts

Fixed Distance Firing• Single- or multiple-pulse output as a function

of up to 3 axes' position feedback• Minimizes heat-affected zone in welding,

cutting and drilling• Outstanding for stent manufacturing, hermetic

welding and drilling holes in turbine blades

Array-Based Firing• PSO fire points are defined in

an array based on calibrated position • Pulse train specified with absolute or

incremental positions• Variable pulse width• Specify pulse lead, pulse and pulse tail for

precise energy delivery

Windowing• Output pulses are constrained inside a user-

defined window with the first pulse relativeto the edge of the window

• Excellent when the processing of a partrequires the axes to move beyond the partfor settling or direction reversal inapplications such as flat-panelmanufacturing or fuel-injector drilling

PositionUpper LimitLower Limit

Window Output

Consistentspacing of

pulsesregardless of

velocity throughthe contour

User Specified Pulse Train Single Pulse Output

User Specified Pulse Train

AdvancedControl:LaserMarkingNmark® CLS(Closed-Loop Scanner)

• Expand scanner field-of-viewwithout sacrificing effective pixelresolution

• Mark long vectors with onecontinuous pass

• Draw large-scale graphicswithout stitching multipleexposures

• Mark on a tube or otherirregularly shaped object withoutmanually repositioning

58 www.aerotech.com

Directly Synchronize Scanheadand Servo Motion for UltimateFlexibility in Marking Applications

Dynamic field-of-viewmovement allowsmarking of non-repetitive patterns overlarge areas, greatlyexpanding the scanneroperating envelope

Continuous marking oflong objects throughcombined servo andscanner motioneliminates line breaksthat can occur whenstitching togetheradjacent markingfields

• Single programming environment for both scannerand servo axes minimizes application complexity

• Eliminate angular errors• Scanner programmed with standard RS-274 G code• Laser firing based on real-time scanner position

Mechanical Specifications AGV-10 AGV-14 AGV-20 AGV-14HP AGV-20HP

Beam Aperture 10 mm 14 mm 20 mm 14 mm 20 mm

Resolution 12 μrad 0.007 μrad

Marking Speed 3 m/s 2.5 m/s 1.5 m/s 2.5 m/s 1.5 m/s

Positioning Speed 12 m/s 9.5 m/s 4.5 m/s 9.5 m/s 4.5 m/s

Writing Speed 900 cps 700 cps 400 cps 700 cps 400 cps

Positioning Resolution 2 μm 1.1 nm

Positioning Repeatability 2.4 μm 2 μm 2 μm 0.32 μm

Positioning Accuracy

60 www.aerotech.com

AdvancedControl:Cross-AxisFeedforward• Reduce position error on an axis

due to acceleration of another axis

Reduce cross-axis positionerror during acceleration

Position Error in Z-Axis Resulting from 1 mm Step in Y-Axis

Time (s)

Z-A

xis

Erro

r (μ

m)

Without cross-axisfeedforward

With cross-axisfeedforward

15x reduction inpeak error


Fieldbus I/Owith HilscherNetX technology

Fieldbus communication protocols provide extensive options forcommunicating with PLCs and other components in your system.Aerotech's motion networking architectures are truly plug-and-play,making setup quick and easy.

Corporate networking protocolsallow remote control andmonitoring of your motion system.

Fieldbus and Networking Aerotech controllers support a multitude of industry-standard communication protocols to facilitateeasy component networking, device connectivity and superior motion system performance.

NetworkingType Plant Fieldbus Motion Drive I/O

ProtocolEthernetTCP/IP

USB RS-232 RS-485 OPC* EtherCAT EtherNet/IP™ DeviceNet™* CANopen* PROFIBUS Modbus® TCP FireWire® Aeronet Analog Digital

A3200

Ensemble

Soloist

SummaryAerotech controllers connect seamlessly to your existing corporate network or PC via these standard protocols.

Aerotech controllers support a variety of fieldbus communication protocols to fit your application.

Aerotech controllersuse state-of-the-art

communicationstandards for motion

networkcommunication to

ensure a robust, high-performance system.

Aerotech drivesinclude a standardcomplement of on-board analog anddigital I/O, with an

option for anexpanded I/O board.

*Coming Soon

62 www.aerotech.com

SensorFusion• Data acquisition precisely

integrated with motion control • Sensor I/O easily aligned with

encoder position • Data recording and playback • Combine sensor inputs in real time • 5 MHz collection rates • One easy-to-use software

interface • No additional software required • Desktop, rack mount and panel-

mount options

As an integrated member of the A3200motion controller family, Sensor Fusionallows you to collect position and sensordata at precisely the same time. Allresults can be retrieved through oneeasy-to-use software interface exposedthrough .NET, C, LabVIEW® orAeroBasic™. This tight integration cutsdown on development time andeliminates a large amount of overheadin the software required to bring theentire machine to market. Available indesktop, rack mount and panel-mountversions.

Sensor Fusion coupled with PSO and the DigitalScope are Aerotech's solution for all of your dataacquisition needs. The Sensor Fusion can have upto four of the following card options:


• Analog Input• Analog Output

• Digital Input• Digital Output

• Encoder Input• PSO Output

Analog Input Digital InputSF-AI-01SF-AI-02• 16 analog inputs

• Up to 400 kHz collection

• 18-bit resolution

• Selectable input range

SF-AO-03SF-AO-04• 4 or 8 outputs

• 750 kHz playback


• 5 V, 10 V or externalreference voltage

SF-AO-01SF-AO-02• 8 or 16 outputs

• 500 kHz playback


• 5 V, 10 V or externalreference voltage

SF-DI-01• 32 digital inputs

• 5 MHz collection rate

• 5 V or 24 V

• Active high or active low

SF-DO-01SF-DO-02• 32 digital outputs

• 5 MHz playback

• 32 mA at 5 V

• High power option: 325 mA at 5-24 V

SF-ENC-01• 4 encoder inputs (TTL)

• 1 PSO outputs

• 1.0 MHz collection

Encoder Input and PSO Output

Digital OutputAnalog Output

Analog Output

ControllerComparisonChartUnsure about which controller isright for your application?Consult the chart to see whichcontroller fits your needs.

64 www.aerotech.com

Multi-Axis

Architecture

Number of Tasks

Velocity Profiling

CNC Functionality/RS-274

Point-to-Point Motion

Cutter Compensation

Acceleration Limiting/Look-Ahead

Gantry Mode

Multi-Block Look-Ahead

Velocity Blending

A3200Up to 10 axes coordinated Single axis

PC-based softwarecontroller Stand-alone Stand-alone

32

Ensemble

4

Soloist

4

Retrace (Block by Block)

Coordinated Motion

Analog Power Control

Electronic Gearing

Electronic Cam Profiling

Arbitrary Path Generation

Jog and Offset, Jog and Return

Axis Calibration

Servo, Stepper or DC Motor Controller

Sinusoidal Commutation

Dual Loop Control

PLC (IEC 61131-3)

Expanded IO Available

3D Error Mapping

Encoder Tuning

Basic FunctionsUp to 32 axes coordinated


Machine Retrofit Hardware Available

Kinematics

Coordinate Transformations

Galvo Integration

Seven Segment Acceleration Profile

Slice Move

Corner Rounding

With Plug-In

With Plug-In

.NET, AeroBasic™

Fast Position Capture

High-Speed Registration

On the Fly End-Point Modification

Orthogonality Correction

Parts Rotation

Intra-Block Retrace

Iterative Learning Control

PSO

Harmonic Cancellation

Direction Gain Scheduling

Inertial Damping

Friction Compensation

Linear Drive Amplifiers

Use the Best Controllerfor Your Application

Ensemble Soloist

Advanced Diagnostics and Tuning

Auto Focus

MATLAB®

Loop Transmission

Yes, up to 3 axes Yes, up to 3 axes Yes

Advanced FunctionsIDE

A3200

66 www.aerotech.com

AerotechElectricalValue• Wired and tested consoles• Wired panels and 19-inch racks• Integrated subsystem with PC,

controls, drives, cables, powersupply or transformer, linefiltering, PLC motion, I/O and customer I/O

• CE/UL standards• Comply with NFPA79 wiring

standard

Nsys CompleteConsoles

Complete consoles are available thatintegrate all of the electronics for yoursystem, including the controller, drivesand/or drive racks, I/O and monitor.

Circuit Breakers Door Interlock

PLC Logic I/O Using WAGO Customer Specific I/O

Power Supply

AerotechMachineSafetyStandards


Safety Level

Category B

Category 1

Category 2

Category 3

Category 4

FaultDetection

None

None

Low

Medium

High

Loss of SafetyFunctionProbability

Very High

Very High

High

Medium

Low

Single FaultCovered

No

No

No

Yes

Yes

Double FaultCovered

No

No

No

No

Yes

Input ESTOP Signal

No specific design

Simple mushroomswitch

Simple mushroomswitch

Dual circuit mushroomwith fault detection

Dual circuit mushroomwith independent faultdetection

Supply Power to Drive

No specific design

One relay

One positive guidedrelay with auxiliarycontact for checking

Two positive guidedrelays with cross checking

Two positive guidedrelays with cross checking

68

Hardware OptionsMP

1 1 1 11 1 to 8 1 to 8 2 or 4 2 or 4 1 to 123

10 A

10-80 VDC(Output)

1-AI 6-DI/4-DO1-AI/1-AO

8-DI/8-DO1-AI/1-AO

16-bit differential AI16-bit single-ended AO

Npaq: Four 16-bit differential AITwo 16-bit single-ended AONpaq MR: Same as ML or

MP per axis

All units capable of sinusoidal commutation, dual-loop control and drive brushless, brush, or stepper motor

16-DI/16-DO1-AI/1-AO




6-DI/4-DO1-AI/1-AO

6-DI/4-DO1-AI/1-AO

11-DI/8-DO4-AI/2-AO

Via OptionalEthernet Port

16 Assignable

IO

6-DI/4-DO1-AI/1-AO

10-320 VDC 10-320 VDC ±40-80 VDC±40 VDC

10 A N/A

N/A N/A N/A

N/A

N/AN/A

N/A N/A

N/A N/A N/A

N/A N/AN/A

N/A N/A

N/A

N/A

N/A N/ANpaq: 10-30 ANpaq MR: 10 A

Npaq: 10-320 VDCNpaq MR: 10-80 VDC

Multiple ConfigurationsAvailable

Multiple ConfigurationsAvailable

1-AI per axis

Multiple Configurations Available

Epaq: 24-90 VDC; ±10-40 VDC Epaq MR: 10-80 VDC

Ensemble LAB: ±24 VDC

Epaq/Epaq MR: 10 AEpaq: 10 A

Ensemble LAB: 5 A10-30 A 10-150 A 10-20 A

PWMPWM PWM LinearLinear Three-Phase±10 VClock andDirection

Clock andDirection N/A

N/A

N/A

N/A

N/A

PWM and Linear PWM and Linear

A3200Drives

EnsembleControls

SoloistControls

Output Type

Axes

Peak OutputCurrent

DC BusVoltage

StandardI/O

OptionalI/O

IncrementalEncoder

I/OSpec

AbsoluteEncoder

Resolver/Inductosyn

CapacitiveProbesLaser

Interferometer

CP HPe HLe MLCL Integrated Drive Racks Nservo Nstep ConsoleNmark™

1


6-DI/4-DO1-AI/1-AO

±40 VDC

10 A

Linear

12-bit differential AI

16-bit single-ended AO

Two 16-bitdifferential AI

Two 16-bitsingle-ended AO

Epaq or Epaq MR:Same as ML or MP

per axis

Npaq® or Npaq MR drive chassis

Epaq, Epaq MR or Ensemble LABdrive chassis and motion controller


Aerotech Drive Solutions

The BA series amplifiers are Aerotech's stand-alone PWM drive forthree-phase AC brushless and single-phase DC brush motors.

BL series amplifiers are highly reliable linear brushless servo amplifiers.

BA PWM Amplifiers

• Wide output power range from 10 A peak to 100 A peak at 320 VDC• No transformer required; direct connection to AC line• Capable of running brushless or single-phase DC brush motors• Velocity, torque and dual-phase mode input command• Accepts both encoder or tachometer feedback for velocity control• Can be externally commutated• UL, CE and CSA approval

BL Linear Amplifier

• Non-switching, high-performance linear operation for ultra-smooth controlof brushless motors

• Totally modular design accepts 110 VAC or 220 VAC input power• Ideal for air-bearing systems and noise-sensitive applications

Torque

AerotechServomotors • Ironless/cogless design for

superior motion• Iron-core motors for high

force output• Frameless torque motors for

custom machines• Ultra-precision positioning• Low heat generation• Vacuum compatible options• NEMA 17, 23, 34, 42 and IEC 142

70 www.aerotech.com

Rotary Motors

Full line of DC brush, brushless, servo and stepper motors to fit almost any situation.

Brushless motors feature neodymium iron boron magnetsfor maximum torque and acceleration in a small package.

Type:Continuous Torque:

Peak Torque:Rated Speed:

Brushless0.16 - 31.6 N-m0.48 - 94.9 N-m2400 - 4000 rpm

TorqueType:

Continuous Torque:Peak Torque:Rated Speed:

Brushless, Slotless0.33 - 2.86 N-m1.31 - 11.43 N-m2000 - 4000 rpm

TorqueType:


DC Brush0.25 - 1.48 N-m1.84 - 7.1 N-m3000 - 6000 rpm

TorqueType:


Stepper0.3 - 7.4 N-m------


Brushless Linear Servomotors —Flat and U-Channel

FramelessRotary Motors

Aerotech's proprietary coil windingtechnology produces the highest forceto volume ratios available.

Direct drive, noncontacting forcer coileliminates backlash, windup and wearfor a maintenance-free system.

Linear servomotors are ideal for:• Robotics• Packaging• Actuators• Tables/Stages• Assembly

TorqueType:


Frameless0.20 - 29.09 N-m0.82 - 116.37 N-m200 - 8000 rpm

ForceType:

Continuous Force:Peak Force:

Flat19 - 697 N75 - 1507 N

ForceType:

Continuous Force:Peak Force:

U Channel18.3 - 1063 N125 - 4252 N

• Fiber Optics/PhotonicsAlignment and Positioning

• Machine Tools• Semiconductor Equipment• Electronic Manufacturing

Five frameless designs for easyintegration into OEM machines.

Slotless stator and high-pole-count rotor provide zerocogging for exceptionalvelocity control.

Advanced magnetic field synthesis and analysisyields highest motor output power per unit volume

72 www.aerotech.com

AvailableAccessories:Maple Operator InterfaceJoystickHandwheel/PendantTransformers

Power SuppliesCablesAutomation ServerMXH Multiplier Boxes

Line FiltersPanel PC

Accessories

Markets andIndustriesAerotech controls and componentshave become the preferred solutionfor a variety of applications in ahost of industries around the world.

Laser ProcessingSemiconductor ProcessingMilitary and AerospaceElectronics ManufacturingMedical Device ManufacturingTest and InspectionMachine ToolsAutomotivePackagingUniversityIndustrial R&DPhotovoltaic Manufacturing

73

74 www.aerotech.com

AerotechCustomerApplications

A3200• Stencil Cutting• Wire Bonding• Die Bonding• Optics Polishing• Stent Manufacturing• e-Beam Welding• EDM• Drilling and Milling

• Grinding and Polishing• Waterjet Cutting• Fuel Injector Drilling• Fuel Cell Manufacturing• Crystallography• Target Tracking• Beam Steering• Pipe Thread Measurement

A3200 or Ensemble• Dispensing (Printed Electronics,

Material Dispensing)• PCB Assembly (Pick and Place of

SMT, Through-Hole)• VIA Drilling• Wafer Scribing and Singulation

(Dicing)• Die Bonding• Resistor Trimming• AOI/X-Ray Inspection• Chip Testing• Chip Packaging

• Crystallography• Flat Panel• Semiconductor Testing• Semiconductor Manufacturing• Photovoltaic Cell Manufacturing• DNA Analysis• Image Duplication• Holographic Writing• Sensor Testing• Sensor Manufacturing

Ensemble• Packaging Machines (Multi-Axis

Applications)• Web Applications• Printing Applications• Rollover Unit Testing• IMU Testing• ECM• Marking• Vertical Form, Fill, and Seal

Soloist• EDM & ECM• Packaging Machines (Case Erectors,

Labeling Machines, Augers)• Printing• Gyro Testing• Accelerometer Testing• Optical Polishing (Spindle Axis)• Beam Steering

Labeling • Web Applications • Case Erectors •


Stent and MedicalDevice ManufacturingAerotech's experience in market-specific solutionsprovides an edge in processes involving photonics,semiconductor processing, medical devicemanufacturing and laser processing. With a number ofspecially developed motion platforms for theseindustries, Aerotech provides a one-stop-shop for yourmotion requirements.

• A3200

• A3200• Ensemble

Aerotech's highly successful VascuLathe® andLaserTurn® platforms deliver maximumproductivity in a compact, easy to maintainpackage with the lowest cost of ownership inthe industry. With the A3200's PSOfunctionality, the throughput possible with theLaserTurn® and VascuLathe® series isunmatched.

Laser Cutting • Welding • Wafer Dicing • Solar Panel Scribing • Fuel Injector Drilling • Turbine Blade Inspection

Solar Panel ScribingExtensive application experience and abroad array of motion products makeAerotech the perfect partner for yourphotovoltaic (solar cell) manufacturing ortesting platform. Our worldwide operationhas engineered and manufactured amultitude of motion platforms for solar cellmanufacturing and inspection. Theseplatforms range from small format systemsfor R&D to full-size production panelprocessing systems.

Controllers to Use:

Controllers to Use:

76 www.aerotech.com

PackagingLine following applications including:• Labeling, cut-to-length, fly cutting, lane diversion,

rotary knife and many others.Basic features for line following:• Auxiliary encoder input for measuring line speed• High-speed registration for measuring line position• The relationship between line speed/position can be

an arbitrary function or simply 1-to-1

Fuel Cell Manufacturing • 3D Laser Processing • MRI Machines • Lab Automation • Target Tracking • Optical Testing •

Controllers to Use:• Soloist• Ensemble• A3200

High Accuracy, Multi-AxisInspection SystemsThe A3200 controller is uniquely suited to complexinspection applications like turbine blade inspectionthat requires 5 axes or more of coordinated motionintegrated with a sensor or camera.

PSOTrigger

Controllers to Use:• A3200 with linear drives

Measurement System

Vision

Ultrasonic

Data acquisition

Other sensorHigh-speed position capturefrom sensor orhost system

Real-timePVT inputfrom host

Ethernet


Gyro Testing •Reticle Inspection • Lithography • Wafer Defect Detection • Thin Film Measurement • Pick and Place

• Directing optics, lasers or antennas• LOS target tracking• Precision pointing

Fuel Cell ManufacturingOperations

Optical Mounts andGimbals

• Laser machining the membranes (also referred to as MEAs)

• Welding the plates/membranes together• Stacking the membranes into a cell• Inspection of the MEAs, plates and cells

Controllers to Use:• A3200

• Ensemble

Controllers to Use:• A3200

Controls Timeline

With 40 years in the business of designingand building motion systems, Aerotechhas the experience and knowledge tounderstand the challenges and solutionsof industrial and laboratory processes.

78 www.aerotech.com

UNIDEX®

UNIDEX® 1

UNIDEX® 12

Model 10

NC300

UNID

SMART I

199019801970

UNID

NC200

UNIDEX® 3

UNIDEX® 16

UNIDEX® 11

Model 20

UNIDEX®

UNIDEX® 2

UNIDEX® 4


Stand-Alone

UNIDEX® 511

UNIDEX® 100

UNIDEX® 500

UNIDEX® 400

EX® 31

Aerotech has manufactured advanced motion controllers since1970. From the industry workhorse PCI cards to state-of-the-artsoftware-based control coupled with intelligent networked drives,the science of motion control has been our business for decades.

BAI

UNIDEX® 600

20102000

EX® 21

® 14

®

®

PC-BasedIntegrated Automation PLC + Motion = MotionPAC

WorldwideTrainingandSupportAerotech offerscomprehensiveworldwide trainingand customer serviceat customer facilitiesor at one of ourAerotech trainingcenters.

80 www.aerotech.com

Training Program:• Standard and customized courses• Hands-on training with Aerotech controllers• Interactive training with experienced instructors• Comfortable, spacious facilities• Online training modules• Online FAQs• At customer site or at Aerotech

Installation and Startup(Commissioning)Aerotech offers startup and commissioning services to minimize startuptimes, reduce costs and accelerate time-to-production. By combiningour product knowledge with your process and application expertise,new systems and applications can be completed faster and at areduced overall cost.

Engineering SupportAerotech provides complete engineering support for our products,including onsite support and maintenance, and remote support viaphone, fax, website and/or WebEx® software. As a manufacturerstaffed by engineers, we understand the unacceptability of downtime.

WebEx®Aerotech can remotely support your startup, commissioning anddebugging of systems over the internet.


Aerotech Ltd (United Kingdom)

Aerotech GmbH (Germany)

Aerotech KK (Japan)

Aerotech Inc (U.S.A.)

Aerotech isan ISO 9001RegisteredCompanySince 1995, Aerotech’s quality system has been certified tothe ISO 9001 standard. The ISO 9001 standardencompasses the Aerotech organization throughmanufacturing.As part of our commitment to the ISO standard, we formallysurvey our customers on a monthly basis which providesvaluable feedback to continually improve our products andprocesses.

82

Aerotech at a Glance

High-VolumeManufacturing

Over 100,000 axesinstalled worldwide

Worldwidestartup serviceand on-sitetraining

Fully equippedon-site trainingfacilities

WorldwideService and

Support

ADRT rotarystages

TechnicallySuperior

Components

ALS1000 linearmotor stage

Highestperformancebrushlesslinear androtary motors

Award-winning Automation 32001-32 axis motion, vision, PLC, robotics

and I/O platform

A3200 Ensemble®Soloist®

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High PerformanceSub-Assemblies

XYAB subsystemfor high dynamicaccuracypositioning inlaser drilling andmicromachiningapplications

LaserTurn® 5high-speedcylindricallaser cuttingsystem

Highest throughput linear motorCartesian gantry systems

Best-in-ClassSubsystems

Highly integratedmotion subsystemswith machine frame,display andpackagedelectronics

Custom-engineered,vacuum andcleanroomcompatible systems

Production-proven, large format air-bearingsystems for flatpanel andsemiconductorapplications

ComprehensiveTechnical Support

Services

Custom softwareapplication support

Advancedanalyticaltechniques foroptimization ofsystem geometry

3D models tofacilitate fasterand moreaccurate systemlayout

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