Ensemble Linear Series - Keystone-intl.co.jp
Motion ControllersEnsemble LinearEnsemble Linear SeriesNetworked, Panel-Mount Drives – LinearNetwork drives through a high-speed serialinterface to coordinate up to ten axes of motionCoordinate motion using up to five independenttasksDrive and control linear or rotary brushless, DCbrush servo, and micro-stepping motorsCommand various motion types including:point-to-point, linear and circularinterpolation, electronic gearing, and velocityprofilingProgram in AeroBasicTM, Microsoft .NET (C#,VB.NET, C, and Managed C ), LabVIEW , andMATLAB Remotely command drives over Ethernet, USB,or RS-232 with an ASCII interface available forboth Windows and non-Windows programs(including Linux)Diagnose, tune, and program through anadvanced Windows-based interfaceNRTL safety certification, CE approvedFully compatible with EPICS set of softwaretools and applications, making Ensemble idealfor use in synchrotron and general laboratoryfacilitiesAllen-Bradley EtherNet/IPTM interface providesfull integration with the Ensemble; program theEnsemble directly from RSLogixTM 5000Output power range of 10 or 20 A peak with 10to 80 VDC bus1Ensemble HLeEnsemble CLEnsemble MLThe EnsembleTM is Aerotech’s next-generation, multi-axiscontroller for moderate- to high-performance applications.Versatility, power, and affordability make the Ensembleideal for applications from basic laboratory experimentationand general-purpose positioning to advanced OEM systems.Versatile, Flexible, Stand-Alone Multi-Axis ControlNetwork multiple Ensemble HLe/CL/ML combinationcontrollers/drives for up to ten axes of coordinated motion,and seamlessly mix and match amplifiers (linear and PWM)and motor types (brush, brushless, and stepper) within thesame positioning system using a common programming andcontrol platform. High-accuracy linear motor air-bearingstages or lower precision stages with servo or steppermotors can be controlled from the linear Ensemble series.Each controller/drive can be reconfigured to acceptdifferent motors and feedback devices, allowing customersto adapt to changing system needs. Optional on-boardencoder interpolation provides programmable axisresolution, including the ability to change interpolation(multiplication) values through software.Powerful and Intuitive ProgrammingMonitor and control all aspects of the positioning system,no matter how complex, through the Ensemble GUIIntegrated Development Environment software. AnAutotuning utility minimizes startup time by allowing easyoptimization of motion axes. Functional programs that canbe modified and used in customer applications are includedin the online Help. Pre-coded LabVIEW VIs, AeroBasic programming functionality, MATLAB library, .NET toolsfor C#, VB.NET, and managed C or C make theEnsemble even easier to use. See the Ensemble Controlhome page for detailed information on software capabilitiesand ordering options.www.aerotech.com
Ensemble HLe/CL/ML DESCRIPTIONEnhancing a Legacy of SuccessEnsemble carries forward a legacy of success thatoriginated in Aerotech’s A3200 and SoloistTM controllers.Enhanced capabilities make it an obvious choice foraggressive motion control applications. The Ensemblemotion control architecture builds upon the SoloistTMintuitive graphical user interface, while improving multiaxis control through advanced features.Allen-Bradley InterfaceCombine proven PLC with proven motion control for easierintegration, startup, and maintenance of medium- and highend automation projects. The Aerotech EtherNet/IP interface enables AB PLCs (MicroLogix, CompactLogix ,or ControlLogix) to be integrated directly with theEnsemble. Motion can be directly programmed in theRSLogix 5000 environment or separate programs can bewritten on the controller and triggered from the AB PLC.Aerotech has two interfaces: ASCII and Register. Choosethe PLC, motion controller, and interface that best fits yourapplication needs.Ensemble LinearThe processing power of a 225 MHz double precision,floating-point DSP supplies exceptional performance in avariety of applications including point-to-point motion,linear and circular interpolation, multi-axis error correction,2D error mapping, direct commutation of linear and rotarybrushless servomotors, and on-board servo autotuning.High-speed interrupts and data logging capabilities providea real-time link to external systems. The EnsembleHLe/CL/ML controller/drive combination also offers highspeed position latching capability and single-, dual-, ortriple-axis PSO (Position Synchronized Output), dependingon model. Whether the requirement is simple point-to-pointmotion or complex velocity-profiled contours with outputon the fly, Ensemble ensures peak performance for criticaloperations.Motion ControllersAdvanced DSP ControlEPICS DriversEach Ensemble installation includes full compatibility withthe EPICS open source distributed control system. EPICS isused worldwide at leading light source (synchrotron)facilities and other government laboratories, allowingEnsemble to seamlessly integrate into applications at allmajor research institutions.10-Axis, Stand-Alone,Panel-Mount DrivesCLCPCPCPCLCPMPMPMPMPENET,USB,RS-232Stepper MotorsEnsemble IDE.www.aerotech.comDC Brush MotorsBrushlessServomotorsEnsemble drives shown in a ten-axis configuration.2
Ensemble LinearMotion ControllersEnsemble HPe/HLe/CP/CL/MP COMPARISONEnsemble HLeWidth: 206.9 mmHeight: 234.3 mmEnsemble Comparison ChartEnsemble MLWidth: 41.1 mmHeight: 141.2 mmEnsemble CLWidth: 103.7 mmHeight: 265.2 mmEnsemble HLeEnsemble CLEnsemble MLEthernet TCP/IP or USBEthernet TCP/IP or USBEnternet TCP/IPCurrent Output, Peak(1)10-20 A(2)10 A(2)10 A(2)Current Output, Continuous(1)5-10 A(2)5 A(2)5 A(2) 40-80 VDC(3) 40 VDC(3) 40 VDC(3)LinearPC InterfaceBus VoltageLinearLinear2 Phase AC2 Phase /1-AISingle Axis PSO(6)YesYesYesDual Axis PSO(6)YesNoNoTriple Axis PSO(6)YesNoNoEthernet Capable for Third-Party I/OYesNoNoAmplifier TypeMotor Supply VoltageStandard I/O(5)Expansion I/O(5) (Additional to Base I/O)Notes:1. Peak value of the sine wave; rms current for AC motors is 0.707 * Apk.2. Load dependent.3. Output voltage is load dependent.4. External transformer required.5. DO Digital Output; DI Digital Input; AO Analog Output; AI Analog Input.6. PSO not available on Ensemble CL/ML when using integral MXU.3www.aerotech.com
Ensemble HLe SPECIFICATIONSUnits10-4010-80Brush, Brushless, Stepper, Voice CoilMotor StyleMotor Supply20-40VAC115/230; 50/60 Hz; Factory ConfiguredVACBus Voltage(2)VDC 4085-240; 50/60 Hz 40 80Peak Output Current (1 sec)(3,4)Apk102010Continuous Output Current(3,4)Apk5105Digital Inputs—Digital Outputs—4 Optically-IsolatedAnalog Inputs—One 16-bit Differential; 10 VAnalog Outputs—6 Optically-Isolated (2 High Speed)One 16-bit Single-EndedThree Limit Inputs (CW, CCW, Home); Three Hall Effect Inputs (A, B, C); Three High-Speeddifferential Inputs (sin, cos, mkr for encoder); Motor Over-Temperature InputDedicated Axis I/O on FeedbackConnectorDedicated I/O on Auxiliary FeedbackConnectorsin, cos, mkr for Aux Enc; Aux Enc can be used for PSO Output—16/16 Digital Opto-Isolated; 3 Analog In ( 10 V, 16-bit Differential); 3 Analog Out ( 10 V, 16-bit)Yes (50 ns Latency)High Speed Data CaptureAutomatic Brake Control—Standard; 24 V @ 1 AEmergency Stop Sense Input (ESTOP)(6)—Standard; 24 V Opto-IsolatedPosition Synchronized Output (PSO)—Single Axis Standard, Two/Three Axis OptionalYesCan Output Multiplied EncoderCan Output Square Wave EncoderYesPrimary Encoder Input Frequency32 MHz Square Wave Standard; 500 kHz Sine Wave (MXH)32 MHz Square WaveSecondary Encoder Input FrequencyEncoder Multiplication——Optional; 1 or 2 Channel; 16-bitN/AInternal Shunt ResistorN/AExternal ShuntEthernetUp to x65536 with Quadrature Output (MXH)Renishaw Resolute BiSS; EnDat 2.1; EnDat 2.2Absolute EncoderResolver usModbus TCP; Ethernet/IPCurrent Loop Update RatekHzServo Loop Update RatekHz10Power Amplifier BandwidthkHzSelectable Through SoftwareMinimum Load InductancemH0Operating Temperature C0 to 50Storage TemperatureWeightEnsemble LinearControl Supply(1)I/O Expansion Board(5)Motion ControllersEnsemble HLe20 C-30 to 85kg (lb)10.36 (22.8)Notes:1. "Keep Alive" supply.2. Output voltage is load dependent.3. Peak value of the sine wave; rms current for AC motors is 0.707 * Apk.4. Load dependent.5. Requires IO option.6. Requires external relay to remove motor supply power.www.aerotech.com4
Ensemble LinearMotion ControllersEnsemble CL SPECIFICATIONSEnsemble CLUnitsBrush, Brushless, Stepper, Voice CoilMotor StyleVAC56 (center tapped transformer; two 28 VAC windings); MaxControl Supply(1)VAC85-240; 50/60 HzBus Voltage(2)VDC 40Peak Output Current (1 sec)(3,4)Apk10Continuous Output Current(3,4)Apk5Digital Inputs—6 Optically-Isolated (2 High Speed)Digital Outputs—4 Optically-IsolatedAnalog Inputs—One 16-bit Differential; 10 VAnalog Outputs—Motor SupplyDedicated I/O on Auxiliary FeedbackConnectorI/O Expansion Board(5)One 16-bit Single-EndedThree Limit Inputs (CW, CCW, Home); Three Hall Effect Inputs (A, B, C); Three High-Speeddifferential Inputs (sin, cos, mkr for encoder); Motor Over-Temperature InputDedicated Axis I/O on FeedbackConnectorsin, cos, mkr for Aux Enc; Aux Enc can be used for PSO Output—16/16 Digital Opto-Isolated;1 Analog In ( 10 V, 12-bit Differential); 1 Analog Out ( 10 V, 12-bit)Yes (50 ns Latency)High Speed Data CaptureAutomatic Brake Control—OptionalEmergency Stop Sense Input (ESTOP)(6)—Standard; 24 V Opto-IsolatedPosition Synchronized Output (PSO)—Single Axis OnlyCan Output Multiplied EncoderNoCan Output Square Wave EncoderYesPrimary Encoder Input Frequency32 MHz Square Wave Standard; 400 kHz Sine Wave (MXU)32 MHz Square WaveSecondary Encoder Input FrequencyEncoder Multiplication—Up to x65536 (MXU)Resolver Interface—N/AN/AInternal Shunt ResistorN/AExternal sModbus TCP; Ethernet/IPCurrent Loop Update RatekHzServo Loop Update RatekHz10Power Amplifier BandwidthkHzSelectable Through SoftwareMinimum Load InductancemH0Operating Temperature C0 to 50Storage TemperatureWeight20 C-30 to 85kg (lb)3.54 (7.8)Notes:1. "Keep Alive" supply.2. Output voltage is load dependent.3. Peak value of the sine wave; rms current for AC motors is 0.707 * Apk.4. Load dependent.5. Requires IO option.6. Requires external relay to remove motor supply power.5www.aerotech.com
Ensemble ML SPECIFICATIONSUnitsBrush, Brushless, Stepper, Voice CoilMotor StyleMotor SupplyVDC 40 maxControl Supply(1)VDC18-36 VDCBus Voltage(2) 40Apk10Continuous Output Current(3,4)Apk5Digital Inputs—N/ADigital Outputs—N/AAnalog Inputs—One 16-bit Differential; 10 VAnalog Outputs—N/AThree Limit Inputs (CW, CCW, Home); Three Hall Effect Inputs (A, B, C); Three High-Speeddifferential Inputs (sin, cos, mkr for encoder); Motor Over-Temperature InputDedicated Axis I/O on FeedbackConnectorDedicated I/O on Auxiliary FeedbackConnectorsin, cos, mkr for Aux Enc; Aux Enc can be used for PSO Output—8/8 Digital Opto-Isolated; 1 Analog In ( 10 V, 16-bit Differential); 1 Analog Out ( 5 V, 16-bit)Yes (50 ns Latency)High Speed Data CaptureAutomatic Brake Control—OptionalEmergency Stop Sense Input (ESTOP)(6)—Standard; 24 V Opto-IsolatedPosition Synchronized Output (PSO)—Single Axis OnlyYes (MXH Only)Can Output Multiplied EncoderCan Output Square Wave EncoderYesPrimary Encoder Input Frequency32 MHz Square Wave Standard; 2 MHz Sine Wave (MXU or MXH)32 MHz Square WaveSecondary Encoder Input FrequencyEncoder Multiplication—Up to x4096 (MXU); Up to x65536 with Quadrature Output (MXH)Resolver Interface—N/AN/AInternal Shunt ResistorN/AExternal sModbus TCP; Ethernet/IPCurrent Loop Update RatekHzServo Loop Update RatekHz10Power Amplifier BandwidthkHzSelectable Through SoftwareMinimum Load InductancemH0Operating Temperature C0 to 50Storage TemperatureWeightEnsemble LinearVDCPeak Output Current (1 sec)(3,4)I/O Expansion Board(5)Motion ControllersEnsemble ML20 C-30 to 85kg (lb)0.45 (1.0)Notes:1. "Keep Alive" supply.2. Output voltage is load dependent.3. Peak value of the sine wave; rms current for AC motors is 0.707 * Apk.4. Load dependent.5. Requires IO option.6. Requires external relay to remove motor supply power.www.aerotech.com6
Ensemble HLe169.3 [6.67]40.6 [1.60]Ø5.5 [Ø0.22]79.9 [3.15]24.6 [0.97]127.0 [5.00]76.2 [3.00]24.6 [0.97]20.7 [0.81]43.8 [1.73]Ensemble LinearMotion ControllersEnsemble HLe DIMENSIONS7234.3 [9.22]18.1 [0.71]REC. MTG. HDWR.: M5 [#10]248.5 [9.79]256.2 [10.09]273.1 [10.75]5.5 [0.22]11.2 [0.44]188.0 [7.40]Ø11.6 [Ø0.46]230.1 [9.06]255.0 [10.04]2.3 [0.09]www.aerotech.com
Ensemble HLe DIMENSIONS169.3 [6.67]Motion ControllersEnsemble HLe with Additional I/O and Resolver40.6 [1.60]79.9 [3.15]39.6 [1.56]155.4 [6.12]76.2 [3.00]38.0 [1.50]20.7 [0.81]43.8 [1.73]Ensemble LinearØ5.5 [Ø0.22]www.aerotech.com234.3 [9.22]18.1 [0.71]REC. MTG. HDWR.: M5 [#10]248.5 [9.79]256.2 [10.09]273.1 [10.75]5.5 [0.22]11.2 [0.44]188.0 [7.40]Ø11.6 [Ø0.46]230.1 [9.06]255.0 [10.04]2.3 [0.09]8
Ensemble CL & & Ensemble Linear % & !'' ( " , * ) A A A A ! " Motion ControllersEnsemble CL DIMENSIONS '% ) / / / -% )/ /;! / & ) % & & & ) "9 (' ? /& ) ) @ & www.aerotech.com
Ensemble CL DIMENSIONSMotion ControllersEnsemble CL with additional I/O % & !'' ( " , * ) A A Ensemble Linear & & A A ! " ) / '% / / / )% % -// " & " ! %/ / -% )/ /;! / & ) % & & & ) "www.aerotech.com (' ? /& ) ) @ & 10
Ensemble ML with additional I/OEnsemble LinearMotion ControllersEnsemble ML DIMENSIONS11www.aerotech.com
Ensemble HLe/CL/ML ORDERING INFORMATIONEnsemble HLe20-40-X-ENETRDP1-10KOutput CurrentControl OptionResolver -7.5KRDP1-5KRDP2-10KRDP2-7.5KRDP2-5KEnsemble CL10-40-IO-MXUEnsemble ML10-40-IO-MXU-MXHEnsemble LinearBaseEnsemble HLeMotion ControllersOrdering ExampleEnsemble HLe/CL/ML Discrete DrivesENSEMBLE HLe10-40-x10 A peak, 5 A continuous, 40 VDC bus, auxiliary 115/230 VAC input to power logic circuitry;supports brushless, brush, and stepper motors; includes: 4 opto-isolated digital inputs (sinking orsourcing), 2 high-speed inputs, 4 opto-isolated digital outputs (sinking only), 1 16-bit analogoutput, 1 16-bit differential analog input, single-axis PSO capability, 2 quadrature encoder inputchannels, ESTOP sense inputENSEMBLE HLe20-40-x20 A peak, 10 A continuous, 40 VDC bus, auxiliary 115/230 VAC input to power logic circuitry;supports brushless, brush, and stepper motors; includes: 4 opto-isolated digital inputs (sinking orsourcing), 2 high-speed inputs, 4 opto-isolated digital outputs (sinking only), 1 16-bit analogoutput, 1 16-bit differential analog input, single-axis PSO capability, 2 quadrature encoder inputchannels, ESTOP sense inputENSEMBLE HLe10-80-x10 A peak, 5 A continuous, 80 VDC bus, auxiliary 115/230 VAC input to power logic circuitry;supports brushless, brush, and stepper motors; includes: 4 opto-isolated digital inputs (sinking orsourcing), 2 high-speed inputs, 4 opto-isolated digital outputs (sinking only), 1 16-bit analogoutput, 1 16-bit differential analog input, single-axis PSO capability, 2 quadrature encoder inputchannels, ESTOP sense inputENSEMBLE CL10-4010 A peak, 5 A continuous, 115 VAC logic input power linear digital controller and drive; 56 VACbus power; includes 4 digital outputs, 6 digital inputs, 1 analog output, 1 analog input, 1 24-VDC1-amp solid-state brake relay; includes axis calibration, PSO, camming, absolute encoder supportENSEMBLE ML10 A peak, 5 A continuous, 10-80 VDC input, linear digital controller and drive with Ethernetinterface; supports brush, brushless, and stepper motors; 2 quadrature encoder input channels,ESTOP sense input, and 24-80 VDC logic power input; includes axis calibration and cammingOptions (Ensemble CL and ET-CAT6-4524 volt power supply for brake; 2 A1.0 m (3.2 ft) Ethernet cable2.0 m (6.6 ft) Ethernet cable3.0 m (9.8 ft) Ethernet cable4.5 m (14.7 ft) Ethernet cableOptions (Ensemble CL)-I/O-MXU-ETHERNET/IPwww.aerotech.comExpansion board with 16 opto-isolated inputs (sinking or sourcing), 16 outputs (sinking orsourcing ), 1 12-bit analog input, 1 16-bit analog output, and one 24 VDC 1-amp mechanical relayProgrammable encoder multiplier up to x1024; no real-time outputODVA certified EtherNet/IPTM module for Allen-Bradley PLC with two APIs – ASCII andRegister-to-Register12
Ensemble LinearMotion ControllersEnsemble HLe/CL/ML ORDERING INFORMATIONOrdering Example (continued)ENSEMBLE-MC-MACHINE-DYNAMIC CONTROLSTOOLBOX-MOTION DESIGNER-MAINTENANCE-1-0SoftwareLicenseController OptionsMotion Composer(MC) VE AXIS CONTOURING-DYNAMIC CONTROLS TOOLBOX-ENHANCED THROUGHPUT MODULE-ENHANCED TRACKING CONTROL-MOTION DESIGNER-LABVIEW-MAINTENANCE-y-mmEnsemble SoftwareENSEMBLE-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.MOTION COMPOSER STANDARD: Includes the Integrated Development Environment, Scope, SystemDiagnostics, 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 VistaBusiness (without SP1 installed). A full list of PC requirements and recommendations is available atwww.aerotech.com. Includes the following software options:License-MACHINEProvides the ability to write, compile, execute, debug programs in AeroBasic; full access to .NET 2.0 and CLibrary; 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 throughEthernet TCP/IP or USB; upgrades can be installed (firmware or controller) using Loader; includes Ensemble-MCStandard; Note: The price of the first MACHINE license is included in the hardware price. The list price of theMACHINE license is used for multiple license copies and/or computing the Maintenance Price.-DEVELOPERProvides the ability to write, compile, execute, debug programs in AeroBasic; full access to .NET 2.0 and CLibrary; 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 throughEthernet 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 DeveloperLicenseController Options-FIVE AXIS CONTOURING-DYNAMIC CONTROLS TOOLBOX-ENHANCED THROUGHPUT MODULE-ENHANCED TRACKING CONTROLMore than 4 axes of coordinated motion with a single motion commandIncludes Harmonic CancellationIncludes setup and monitoring screens of the ETM module; included in the price of thehardware modules sold separatelyEnhanced tracking control for reduced dynamic following error and settling timesSystem Options-ETHERNET/IPODVA certified EtherNet/IPTM module provides full integration with Allen Bradley PLC and programmable fromRSLogixTM. Module has two APIs: ASCII and Register-to-RegisterMotion 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)-LABVIEWIncludes LABVIEW 8.2 VI samplesMaintenance- MAINTENANCE13First year of maintenance is included with the initial purchase; additional years can be purchasedwww.aerotech.com
Motion Controllers Ensemble Linear www.aerotech.com 6 Ensemble ML SPECIFICATIONS Ensemble ML Units Motor Style Brush, Brushless, Stepper, Voice Coil Motor Supply VDC 40 max Control Supply(1) VDC 18-36 VDC Bus Voltage(2) VDC 40 Peak Output Current (1 sec)(3,4) A pk 10 Continuous Output Current(3,4) A pk 5 Digital Inputs — N/A Digital Outputs — N/A Analog Inputs — One 16-bit .
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Added KeyStone II specifics to SRTP examples (Page 3-8) Added mention of KeyStone II engine to Protocol Descriptions. (Page 2-5) Added Specifics for IPsec in KeyStone II devices at IPsec Examples. (Page 3-3) Included SRTP KeyStone II Updates (Page 2-21) Put KeyStone II specification in IPSEC Use (Page 2-11)
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TX-SR608 Instruction Manual Thank you for purchasing an Onkyo AV Receiver. . that the ONKYO product described in this instruction manual is in compliance with the corresponding technical standards such as EN60065, EN55013, EN55020 and EN61000-3-2, -3-3.File Size: 2MBPage Count: 76Explore furtherUser manual Onkyo TX-SR608 (English - 76 pages)www.manua.lsTX-SR606 Instruction Manualwww.intl.onkyo.comTX-SR606 Instruction Manualwww.intl.onkyo.comBefore using 2 TX-SR701/701E TX-SR601/601Ewww.intl.onkyo.comBefore using 2 TX-SR701/701E TX-SR601/601Ewww.intl.onkyo.comRecommended to you b
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the principles of English etymology, than as a general introduction to Germanic philology. The Exercises in translation will, it is believed, furnish all the drill necessary to enable the student to retain the forms and constructions given in the various chapters. The Selections for Reading relate to the history and literature of King Alfred’s day, and are sufficient to give the student a .
