Automative infinte circular motion of Aerotech Ensemble Motion Controller (5.06.000) via MATLAB

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Noam
Noam 2025-11-26，13:35
评论： Ayush 2025-12-16，6:32
I'm trying to move a stage with an Aerotech Ensemble Motion Controller (v5.06.000) via MATLAB, but instead of a full circular motion I only get multiple arc trajectories in one direction.
Does anyone have experience with this controller?
clear; clc; close all;
arch = computer('arch');
if strcmp(arch,'win32')
addpath('C:\Program Files (x86)\Aerotech\Ensemble\Matlab\x86');
else
addpath('C:\Program Files (x86)\Aerotech\Ensemble\Matlab\x64');
end
X = 0;
Y = 1;
disp('Connecting...');
h = EnsembleConnect;
EnsembleMotionEnable(h, X);
EnsembleMotionEnable(h, Y);
EnsembleMotionFaultAck(h, X);
EnsembleMotionFaultAck(h, Y);
% ====== USER PARAMETERS ======
R = 10; % mm
Speed = 1; % mm/s
% ====== CURRENT POSITION (this will become top of circle) ======
startX = EnsembleStatusGetItem(h, X, EnsembleStatusItem.PositionFeedback);
startY = EnsembleStatusGetItem(h, Y, EnsembleStatusItem.PositionFeedback);
% ====== BREAK BUTTON ======
DlgH = figure('Position',[800 500 200 120]);
H = uicontrol('Style','PushButton', ...
'String','Break', ...
'FontSize',16, ...
'FontWeight','bold', ...
'Position',[20 20 160 60], ...
'Callback','delete(gcbf)');
disp('Continuous circular motion started...');
while ishandle(H)
EnsembleMotionCWRadius(h, X, startX, Y, startY, R, Speed);
EnsembleMotionWaitMode(h, 1);
end
EnsembleMotionHalt(h);
EnsembleDisconnect();
  1 个评论
Ayush
Ayush 2025-12-16，6:32
Hi,
The repeated "EnsembleMotionCWRadius" command seems to be sending the same arc move each time, so the stage only traces multiple arcs in one direction instead of a full circle. To achieve continuous circular motion, you might need to update the arc endpoints or use a different approach.

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