Aerotech

Configuring an Aerotech motor controller¶

This chapter explains how to configure an Aerotech motor controller.

It is tested on Ensemble and Soloist controllers.

Supported features¶

Encoder	Shutter	Trajectories
YES	NO	NO

Specific Aerotech axis parameters¶

aero_name: axis name set in the controller (use ‘X’ by default for Ensemble controller)

Note

For the Soloist controller, do not specify aero_name at all

YAML configuration file example¶

- class: aerotech
  tcp:
    url: id15aero1
    #url: 172.24.168.121
  axes:
    - name: rot
      aero_name: X #do not specify for Soloist controller
      steps_per_unit: 67356.444444444
      velocity: 10.0
      acceleration: 25.0
      encoder: rot_enc
      tolerance: 1e-3

Encoder configuration¶

Encoders directly plugged in the Aerotech controller can be configured directly in the YAML configuration file.

Specific Aerotech encoder parameters¶

aero_name: axis name is the channel name set in the controller

Encoder YAML configuration example¶

- class: aerotech
  tcp:
    url: id15aero1
  encoders:
    - name: rot_enc
      aero_name: X