Ensemble_PWM_11 Motion Controllers.qxd - Aerotech Inc.

Ensemble PWM Motion Controllers 

Ensemble HPe/CP/MP 

Networked, Panel-Mount Drives – PWM 

Network drives through a high-speed serial 

interface to coordinate up to ten axes of motion 

Coordinate motion using up to five independent 

tasks 

Drive and control linear or rotary brushless, DC 

brush servo, and micro-stepping motors 

Command various motion types including: 

point-to-point, linear and circular 

interpolation, electronic gearing, and velocity 

profiling 

Program in AeroBasic TM , Microsoft .NET (C#, 

VB.NET, C, and Managed C++), or LabVIEW ® 

Remotely command drives over Ethernet, USB, 

or RS-232 with an ASCII interface available for 

both Windows ® and non-Windows ® programs 

(including Linux) 

Diagnose, tune, and program through an 

advanced Windows-based interface 

UL listed, CE approved 

Fully compatible with EPICS set of software 

tools and applications, making Ensemble ideal 

for use in synchrotron and general laboratory 

facilities 

Allen-Bradley EtherNet/IP TM interface provides 

full integration with the Ensemble; program the 

Ensemble directly from RSLogix TM 5000 

WORLD HEADQUARTERS: Aerotech, Inc., United States • Phone: +1-412-963-7470 • Email: sales@aerotech.com 

Aerotech, Ltd., United Kingdom • Phone: +44-118-9409400 • Email: sales@aerotech.co.uk 

Aerotech GmbH, Germany • Phone: +49-911-9679370 • Email: sales@aerotechgmbh.de 

Aerotech KK, Japan • Phone: +81-47-489-1741 • Email: sales@aerotechkk.co.jp 

Aerotech China • Phone: +852-3793-3488 • Email: saleschina@aerotech.com 

Ensemble HPe Ensemble CP Ensemble MP 

The Ensemble TM is Aerotech’s next-generation, multi-axis 

controller for moderate- to high-performance applications. 

Versatility, power, and affordability make the Ensemble 

ideal for applications from basic laboratory experimentation 

and general-purpose positioning to advanced OEM systems. 

Versatile, Flexible, Stand-Alone Multi-Axis Control 

Network multiple Ensemble HPe/CP/MP combination 

controllers/drives for up to ten axes of coordinated motion, 

and seamlessly mix and match amplifiers (PWM) and 

motor types (brush, brushless, and stepper) within the same 

positioning system using a common programming and 

control platform. High-accuracy linear motor air-bearing 

stages can be controlled along with lower precision stages 

with servo or stepper motors. Each controller/drive can be 

reconfigured to accept different motors and feedback 

devices, allowing customers to adapt to changing system 

needs. Optional on-board encoder interpolation provides 

programmable axis resolution, including the ability to 

change interpolation (multiplication) values through 

software. 

Powerful and Intuitive Programming 

Monitor and control all aspects of the positioning system, 

no matter how complex, through the Ensemble GUI 

Integrated Development Environment software. An 

Autotuning utility minimizes startup time by allowing easy 

optimization of motion axes. Functional programs that can 

1 www.aerotech.com

Ensemble HPe/CP/MP DESCRIPTION 

be modified and used in customer applications are included 

in the online Help. Pre-coded LabVIEW ® VIs, AeroBasic TM 

programming functionality, .NET tools for C#, VB.NET, 

managed C++ or C, make the Ensemble even easier to use. 

Advanced DSP Control 

The processing power of a 225 MHz double precision, 

floating-point DSP supplies exceptional performance in a 

variety of applications including point-to-point motion, 

linear and circular interpolation, multi-axis error correction, 

2D error mapping, 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 

HPe/CP/MP controller/drive combination also offers highspeed 

position latching capability and single-, dual-, or 

triple-axis PSO (Position Synchronized Output), depending 

on model. Whether the requirement is simple point-to-point 

motion or complex velocity-profiled contours with output 

on the fly, Ensemble ensures peak performance for critical 

operations. 

Enhancing a Legacy of Success 

Ensemble carries forward a legacy of success that 

originated in Aerotech’s A3200 and Soloist TM controllers. 

Enhanced capabilities make it an obvious choice for 

aggressive motion control applications. The Ensemble 

Ensemble IDE. 

www.aerotech.com 

motion control architecture builds upon the Soloist TM 

intuitive graphical user interface, while improving multiaxis 

control through advanced features. 

Allen-Bradley Interface 

Combine proven PLC with proven motion control for easier 

integration, startup, and maintenance of medium- and highend 

automation projects. The Aerotech EtherNet/IP TM 

interface enables AB PLCs (MicroLogix, CompactLogix TM , 

or ControlLogix) to be integrated directly with the 

Ensemble. 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 your 

application 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. 

10-Axis, Stand-Alone, 

Panel-Mount Drives 

ENET, 

USB, 

RS-232 

CP CP CP CP 

MP MP MP MP 

CL CL 

Stepper Motors DC Brush Motors Brushless 

Servomotors 

Ensemble drives shown in a ten-axis configuration. 






2 

Motion Controllers Ensemble PWM


Ensemble HPe/CP/MP COMPARISON 

Ensemble HPe 

Width: 99 mm 

Height: 232.4 mm 

Ensemble Comparison Chart Ensemble HPe Ensemble CP Ensemble MP 

PC Interface Ethernet or USB Ethernet or USB Ethernet 

Current Output, Peak (1) 10-150 A 10-30 A 10 A 

Current Output, Continuous (1) 5-75 A 5-10 A 5 A 

Bus Voltage ±10-320 VDC ±10-320 VDC ±40 VDC 

Amplifier Type PWM PWM PWM 

Motor Supply Voltage 2 or 3 Phase AC 2 Phase AC DC 

Standard I/O (2) 

4-DO/6-DI 

1-AO/1-AI 

4-DO/6-DI 

1-AO/1-AI 

1-AI 

Expansion I/O (2) (Additional to Base I/O) 

16-DO/16-DI 

3-AO/3-AI 

16-DO/16-DI 

1-AO/1-AI 

8-DO/8-DI 

1-AO/1-AI 

Single Axis PSO (3) Yes Yes Yes 

Dual Axis PSO (3) Yes No No 

Triple Axis PSO (3) Yes No No 

Ethernet Capable for Third-Party I/O Yes Yes Yes 

Notes: 

1. Peak value of the sine wave; rms current for AC motors is 0.707 * A pk . 

2. DO = Digital Output; DI = Digital Input; AO = Analog Output; AI = Analog Input. 

3. PSO not available on Ensemble CP/MP when using integral MXU. 

Ensemble CP 

Width: 63.5 mm 







Ensemble MP 

Width: 41.1 mm 


3 www.aerotech.com

Ensemble HPe SPECIFICATIONS 

Ensemble HPe Units 10 20 30 50 75 100 150 

Motor Style Brush, Brushless, Stepper (1) 

Motor Supply VAC Single-Phase 7-240 V; 50/60 Hz Single- or Three-Phase 115 or 230 V; 50/60 Hz 

Control Supply (2) VAC 85-240 VAC; 50/60 Hz 

Bus Voltage (3) VDC 10-320 (3) 

Peak Output Current (1 sec) (4) Apk 10 20 30 50 75 100 150 

Continuous Output Current (4) Apk 5 10 10 25 37 50 75 

Digital Inputs — 6 Optically-Isolated (2 High Speed) 

Digital Outputs — 4 Optically-Isolated 

Analog Inputs — One 16-bit Differential; ±10 V 

Analog Outputs — One 16-bit Single-Ended; ±10 V 

Dedicated Axis I/O on Feedback Connector 

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 

Dedicated I/O on Auxiliary Feedback 

Connector 

sin, cos, mkr for Aux Enc; Aux Enc can be used for PSO Output 

I/O Expansion Board (5) — 16/16 Digital Opto-Isolated; 3 Analog In (±10 V, 16-bit Differential); 3 Analog Out (±10 V, 16-bit) 

High Speed Data Capture Yes (50 ns Latency) 

Automatic Brake Control — Standard; 24 V at 1 A 

Emergency Stop Sense Input (ESTOP) (6) — Standard; 24 V Opto-Isolated 

Position Synchronized Output (PSO) — Single Axis Standard, Two/Three Axis Optional 

Can Output Multiplied Encoder Yes 

Can Output Square Wave Encoder Yes 

Primary Encoder Input Frequency 500 kHz Amplified Sine Wave Standard (for onboard multiplier); 40 MHz TTL Square Wave 

Secondary Encoder Input Frequency 32 MHz Square Wave 

Encoder Multiplication — Up to x65536 with Quadrature Output (MXH) 

Resolver Interface — Optional; 1 or 2 Channel; 16-bit 

Internal Shunt Resistor 40 W Continuous; 400 W Peak (5 seconds) 440 W Continuous 

External Shunt Optional 

Ethernet — Yes 

USB Yes 

RS-232 Yes 

FireWire No 

Fieldbus Modbus TCP; Ethernet/IP 

Current Loop Update Rate kHz 20 

Servo Loop Update Rate kHz 1 to 20 

Power Amplifier Bandwidth kHz Selectable Through Software 

Minimum Load Inductance mH 0.1 @ 160 VDC (1.0 mH @ 320 VDC) 

Operating Temperature °C 0 to 50 

Storage Temperature °C -30 to 85 

Weight 

Notes: 

kg (lb) 2.36 (5.2) 6.64 (14.6) 11.06 (24.4) 

1. For stepper motors only, one-half of bus voltage is applied across the motor (e.g., 80 VDC supply results in 40 VDC across stepper motor). 

2. "Keep Alive" supply. 

3. Output voltage dependent upon input voltage. 

4. Peak value of the sine wave; rms current for AC motors is 0.707 * A . pk 

5. Requires IO option. 

6. Requires external relay to remove motor supply power. 







4 



Ensemble CP SPECIFICATIONS 

Ensemble CP Units 10 20 30 


Motor Supply VAC Single-Phase 7-240 VAC; 50/60 Hz 

Control Supply (2) VAC 85-240 VAC; 50/60 Hz 

Bus Voltage (3) VDC 20-340 (3) 

Peak Output Current (1 sec) (4) Apk 10 20 30 

Continuous Output Current (4) Apk 5 10 10 

Digital Inputs — 6 Optically-Isolated (2 High Speed) 

Digital Outputs — 4 Optically-Isolated 


Analog Outputs — One 16-bit Single-Ended; ±10 V 





Connector 


I/O Expansion Board (5) — 16/16 Digital Opto-Isolated; 1 Analog In (±10 V, 16-bit Differential); 1 Analog Out (±10 V, 16-bit) 


Automatic Brake Control — Standard; 24 V at 1 A 


Position Synchronized Output (PSO) — Single Axis Only 

Can Output Multiplied Encoder No 




Encoder Multiplication — Up to x4096 (MXU) 

Resolver Interface — N/A 

Internal Shunt Resistor 40 W Continuous; 400 W Peak (5 seconds) 

External Shunt Optional 


USB Yes 

RS-232 Yes 

FireWire No 





Minimum Load Inductance mH 0.1 @ 160 VDC (1.0 mH @ 320 VDC) 



Weight kg (lb) 1.6 (3.6) 

Notes: 




4. Peak value of the sine wave; rms current for AC motors is 0.707 * A pk . 








5 www.aerotech.com

Ensemble MP SPECIFICATIONS 

Ensemble MP Units 


Motor Supply VDC 10-80 

Control Supply (2) VDC 24-80 

Bus Voltage (3) VDC 10-80 

Peak Output Current (1 sec) (4) Apk 10 

Continuous Output Current (4) Apk 5 

Digital Inputs — N/A 

Digital Outputs — N/A 


Analog Outputs — N/A 



Connector 

I/O Expansion Board (5) — 









N/A 

8/8 Digital Opto-Isolated; 1 Analog In (±10 V, 16-bit Differential); 1 Analog Out (±5 V, 16-bit); 



Automatic Brake Control — Optional (6) 


Position Synchronized Output (PSO) — Optional (5) 

Can Output Multiplied Encoder No 




Encoder Multiplication — Up to x4096 (MXU) 

Resolver Interface — N/A 

Internal Shunt Resistor N/A 

External Shunt N/A 


USB No 

RS-232 Yes 

FireWire No 





Minimum Load Inductance mH 0.1 @ 80 VDC 



Weight 

Notes: 

kg (lb) 0.45 (1.0) 




4. Peak value of the sine wave; rms current for AC motors is 0.707 * A . pk 



6 



Ensemble HPe DIMENSIONS 

Ensemble HPe10/20/30 

14.3 [0.56] 

2.0 [0.08] 

79.4 [3.13] 

50.8 [2.00] 

4.7 [0.19] 

4.7 [0.19] 245.3 [9.66] 

252.4 [9.94] 

261.9 [10.31] 






7 www.aerotech.com 

18.7 [0.74] 

232.5 [9.15] 

10.7 [0.42] 

167.8 [6.61] 

179.3 [7.06] 

6.3 [0.25]

Ensemble HPe DIMENSIONS 

Ensemble HPe with additional I/O 


99.1 [3.90] 

24.5 [0.97] 50.8 [2.00] 

2.0 [0.08] 

4.7 [0.19] 

4.7 [0.19] 245.3 [9.66] 

252.4 [9.94] 

261.9 [10.31] 

18.7 [0.73] 

232.5 [9.15] 

10.7 [0.42] 

167.8 [6.61] 

183.8 [7.23] 

6.3 [0.25] 






8 


Motion Controllers 

Ensemble PWM 

9 

Ensemble CP DIMENSIONS 


233.0 [9.18] 

218.6 [8.61] 

9.8 [0.39] 

65.7 [2.59] 

63.5 [2.50] 

31.8 [1.25] 

4.7 [0.19] 

(TYP.) 

REC. MTG. HDWR: M4 [#8] 

15.9 [0.63] 

(TYP.) 

Ø4.7 [Ø0.19] (TYP.) 

Ø10.3 [Ø0.41] (TYP.) 






198.2 [7.81] 

16.1 [0.64] 

167.4 [6.59] 

178.2 [7.02] 

6.4 [0.25] 

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Ensemble CP DIMENSIONS 

Ensemble CP with additional I/O 

233.0 [9.18] 

218.6 [8.61] 

9.8 [0.39] 

65.7 [2.59] 

63.5 [2.50] 

31.8 [1.25] 

4.7 [0.19] 

(TYP.) 

REC. MTG. HDWR: M4 [#8] 

15.9 [0.63] 

(TYP.) 

Ø4.7 [Ø0.19] (TYP.) 

Ø10.3 [Ø0.41] (TYP.) 

198.2 [7.81] 

16.1 [0.64] 

167.4 [6.59] 

178.2 [7.02] 







10 

6.4 [0.25] 


Ensemble PWM



11 

Ensemble MP DIMENSIONS 

Ensemble MP 

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Ensemble MP DIMENSIONS 

Ensemble MP with additional I/O 

7.6 [0.30] 

157.5 [6.20] 

149.2 [5.88] 

4.1 [0.16] 

ETHERNET J102 

ENA 

MRK 

MOTOR 

FEEDBACK 

J103 

41.1 [1.62] 

25.4 [1.00] 

80VDC MAX 

10AMP MAX 

CTL 

POS 

MOTOR MOTOR 

SUPPLY TB102 OUTPUT 

4.0 [0.16] (TYP.) 

OPTO-IN OPTO-OUT 

J201 

TB201 

TB202 

TB203 

TB204 

REC. MTG. HDWR: M3.5 [#6] 

8.1 [0.32] 141.2 [5.56] 

107.0 [4.21] 

121.4 [4.78] 







12 

2.5 [0.10] 





13 

Ensemble HPe/CP/MP ORDERING INFORMATION 

Ordering Example 

Ensemble HPe 20 -ENET RDP1-10K -S 

Base Output Current Control Option Resolver Options Power Stage Option 

Ensemble HPe 

10 

20 

30 

50 

75 

100 

150 

10 


20 

30 

Ensemble MP 10 

-IO 

-DUALPSO 

-TRIPLEPSO 

-PSOPTO2 

-PSOPTO3 

-PSOPTO4 

-MXH 

-ENET 

-IO 

-MXU 

-IO 

-MXU 

RDP1-10K 

RDP1-7.5K 

RDP1-5K 

RDP2-10K 

RDP2-7.5K 

RDP2-5K 

-S 

-EXTSHUNT 

-HS 

-FAN-115 

-FAN-230 

-EXTSHUNT 

-S 

Ensemble HPe/CP/MP Discrete Drives 

ENSEMBLE HPe10 5 A continuous, 10 A peak, 28-240 VAC supply input, and 115/240VAC auxiliary input for logic 

supply; drives brushless, brush, and stepper motors; includes: 4 opto-isolated digital inputs 

(sinking or sourcing), 2 high-speed digital inputs, 4 opto-isolated digital outputs (sinking only), 1 

16-bit analog differential input (±10 VDC), 1 16-bit analog single-ended output (±10 VDC), 1 24- 

VDC 1 A brake relay, single-axis PSO capability, 2 quadrature encoder input channels (primary & 

auxiliary), ESTOP sense input, dedicated Home and Limit inputs 

ENSEMBLE HPe20 10 A continuous, 20 A peak, 28-240 VAC supply input, and 115/240 VAC auxiliary input for logic 





auxiliary), ESTOP sense input, dedicated Home and Limit inputs 

ENSEMBLE HPe30-S 10 A continuous, 30 A peak, 28-240 VAC supply input, and 115/240 VAC auxiliary input for logic 





auxiliary), ESTOP sense input, dedicated Home and Limit inputs, 40 W peak internal shunt 

resistor 

ENSEMBLE HPe50-S 25 A continuous, 50 A peak, 28-240 VAC supply input, and 115/240 VAC auxiliary input for logic 






resistor 

ENSEMBLE HPe75-S 37.5 A continuous, 75 A peak, 28-240 VAC supply input, and 115/240 VAC auxiliary input for 

logic supply; drives brushless, brush, and stepper motors; includes: 4 opto-isolated digital inputs 





resistor 






www.aerotech.com


Ordering Example (continued) 

ENSEMBLE-MC -MACHINE -DYNAMIC CONTROLS 

TOOLBOX 

-MOTION DESIGNER -MAINTENANCE-1-0 

Software License Controller Options Motion Composer 

(MC) Options 

Maintenance 

ENSEMBLE-MC -MACHINE 

-DEVELOPER 

-FIVE AXIS CONTOURING 

-DYNAMIC CONTROLS TOOLBOX 

-ENHANCED THROUGHPUT MODULE 

-MOTION DESIGNER 

-LABVIEW 

-MAINTENANCE-y-mm 

ENSEMBLE HPe100-S 50 A continuous, 100 A peak, 28-240 VAC supply input, and 115/240 VAC auxiliary input for 






resistor 

ENSEMBLE HPe150-S 75 A continuous, 150 A peak, 28-240 VAC supply input, and 115/240 VAC auxiliary input for 






resistor 

ENSEMBLE CP10 10 A peak, 5 A continuous, 115 VAC input PWM digital controller and drive with Ethernet 

interface; includes four digital outputs, six digital inputs, 1 analog output, 1 analog input, 1 

24-VDC 1-amp solid-state brake relay; includes axis calibration, PSO, camming, absolute encoder 

support 

ENSEMBLE CP20 20 A peak, 10 A continuous, 115 VAC input PWM digital controller and drive with Ethernet 


24-VDC 1-amp solid-state brake relay; includes axis calibration, PSO, camming, absolute encoder 

support 

ENSEMBLE CP30-S 30 A peak, 10 A continuous, 115 VAC input PWM digital controller and drive with Ethernet 


24-VDC 1-amp solid-state brake relay, integral shunt resistor network; includes axis calibration, 

PSO, camming, absolute encoder support 

ENSEMBLE MP10 10 A peak, 5 A continuous, 10-80 VDC input, PWM digital controller and drive with Ethernet 

interface; supports brush, brushless, and stepper motors; two quadrature encoder input channels, 

ESTOP sense input, and 24-80 VDC logic power input; includes axis calibration and camming 

Options (Ensemble CP) 

-I/O Expansion board with 16 opto-isolated inputs (sinking or sourcing) and 16 outputs (sinking), 1 

16-bit analog output, 1 16-bit analog input, 1 24-VDC 1-amp mechanical relay 

-MXU x1024 software multiplication after quadrature; no real-time PSO output 

-S Integral shunt resistor network for Ensemble CP10 and Ensemble CP20 

-EXTSHUNT Connection for external shunt resistor network 

-ETHERNET/IP ODVA certified EtherNet/IP TM module for Allen-Bradley PLC with two APIs – ASCII and 

Register-to-Register 

Options (Ensemble CP and MP) 

BRAKE24-2 24 volt power supply for brake; 2 A 

ENET-CAT6-10 1.0 m (3.2 ft) Ethernet cable 










14 





15 


Options (Ensemble MP) 

-I/O Expansion board with 8 opto-isolated inputs (sinking or sourcing), 8 outputs (sinking or sourcing ), 

1 12-bit analog input, 1 16-bit analog output, and 1 24-VDC 1-amp mechanical relay (must 

add this option for PSO on the MP) 

-MXU Programmable encoder multiplier up to x1024; no real-time PSO output 

-AUXENC I/O auxilary encoder input 

-ETHERNET/IP ODVA certified EtherNet/IP TM module for Allen-Bradley PLC with two APIs – ASCII and 

Register-to-Register 

Ensemble Software 

ENSEMBLE-MC ENSEMBLE: Full installation of Ensemble controller and selected software components on a new system. Full 

part 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, System 

Diagnostics, and System Maintenance. Ensemble Motion Composer is intended for deployment on desktop or 

industrial 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 at 

www.aerotech.com. Includes the following software options: 

License 

-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 

License 

Controller Options 

-FIVE AXIS CONTOURING More than 4 axes of coordinated motion with a single motion command 

-DYNAMIC CONTROLS TOOLBOX Includes Harmonic Cancellation 

-ENHANCED THROUGHPUT MODULE Includes setup and monitoring screens of the ETM module; included in the price of the 

hardware modules sold separately 

System Options 

-ETHERNET/IP ODVA certified EtherNet/IP TM module provides full integration with Allen Bradley PLC and programmable from 

RSLogix TM . Module has two APIs: ASCII and Register-to-Register 

Motion Composer (MC) Options 

-MOTION DESIGNER The Motion Designer is an add-on software component to the Digital Scope that 

provides 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 






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Ensemble_PWM_11 Motion Controllers.qxd - Aerotech Inc.

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