Mô tả

Module EtherCAT Slave điều khiển 4 trục động cơ bước ICP DAS ECAT-2094S CR


• Supports 4 stepper motor (2-phase bipolar)
• Stepper motor are controlled in an open loop operation
• Programmable coil current level: up to 1.5 A/phase
• Programmable microstep size: maximum 256 microsteps per full step
• Supported motor voltage range: 6 to 46VDC 
• 4 x Encoder interfaces (A, B, Z), differential
• 8 x Digital input. Two DI channels for each axis: reference switch input, latch input
• 2 x Digital output
• Automatic current reduction to reduce heat when motor is not moving
• Drive protection:
      ‣ Over-temperature
      ‣ Under voltage
      ‣ Short circuit
• Optically isolated I/O
• LED indicators for I/O, EtherCAT and motion status
• Internal memory for storing configuration data
• EtherCAT: 
      ‣ 2 x RJ-45 bus interface
      ‣ Distance between stations up to 100 m (100BASE-TX)
      ‣ Support daisy chain connection
      ‣ EtherCAT conformance test tool verified
      ‣ Supports Free-Run, SM-Synchron and Distributed Clock (DC) operation modes

 ‣ Supports CoE and FoE

• Removable terminal block connector
• Two 16-position rotary switch for station alias addressing


The ECAT-2094S stepper motor controller is a cost-effective, two-phase bipolar stepper driver. The ECAT-2094S simultaneously controls up to four stepper motors. A motor voltage range between 6 and 46V DC and a maximum motor coil current of 1.5A/phaseis being supported. The running motor current, microstep resolution and other motion parameters are software selectable.

Two-phase bipolar stepper motors can be directly connected to the ECAT-2094S device. The device is designed to operate in a open loop. Configuration and motion control has to be done by the EtherCAT master and the application program. The torque and step control is done by an internal stepper motor driver IC. Each stepper motor is being independently controlled by a separated driver IC. The four driver ICs are not synchronized and work independently from each other. An integrated ramp generator automatically calculates the acceleration and deceleration distance. The motion controller drives the motor to the target position or accelerates the motor to the target velocity. All motion parameters can be changed on the fly. A minimum set of configuration data consists of acceleration, deceleration and maximum motion velocity. 

After receiving the target position the motor driver starts controlling the motion movement.

The ECAT-2094s has four integrated incremental encoder interfaces. Four 32 bit high frequency encoder counter counts the input signal of external incremental encoders. The encoder can for example be used for homing purposes and for consistency checks. 

High resolution of up to 256 microsteps per full step is supported for a ensuring smooth and precise motor operation.


• Automated Test Equipment
• Surveillance Systems
• Labeling Machinery
• Packaging
• Semiconductor Manufacturing
• Engraving Machine
• Automatic Feeding Machine


EMS Protection
EFT (IEC 61000-4-4) Signal: 1 KV Class A; Power: 1 KV Class A
ESD (IEC 61000-4-2) 4 KV Contact for each channel
Surge (IEC 61000-4-5) 1 KV Class A
LED Indicators
Status 1 x Power
1 x Operation State
2 x Communication
8 x DI status
2 x DO status
16 x Motion status
Encoder Input
No. of Axes 4, differential
Mode A/B phase, CW/CCW, Pules/Dir
Frequency 4 MHz Max.
Motor Output
No. of Axes 4x Stepper motor, 2 phases
Current Controller Frequency 24.5 kHz
Microsteps Per Step 256, 128, 64, 32, 16, 8, 4, 2
Output Current 1.5 A/phase
Step Frequency 8.388 MHz Max.
Voltage Range of The Motor Output 6 to 46 VDC
Digital Input
Channels 8 (2x Limit position for each motor)
Type Wet Contact
ON Voltage Level 10 ~ 30 VDC
OFF Voltage Level 5 VDC Max.
Isolation 3750 VDC
Digital Output
Channels 2
Type Open collector
Load Voltage +5 to 30 VDC
Load Current 100 mA
Isolation 3750 VDC
Ports 2 x RJ-45
Distance Between Stations 100 m Max. (100Base-TX)
Data Transfer Medium Ethernet/EtherCAT Cable (Min. CAT 5), Shielded
Cycle Time 1 x axis: 1.0 Millisecond
2 x axis: 2.0 Millisecond
3 x axis: 3.0 Millisecond
4 x axis: 4.0 Millisecond
Distributed Clocks Yes
Input Range +20 VDC ~ +30 VDC
Casing Metal
Dimensions (mm) 37 x 123.5 x 181 (W x L x H)
Installation DIN-rail mounting or wall mounting
Operating Temperature -25 ~ +40 °C
Storage Temperature -30 ~ +80 °C
Humidity 10 ~ 90% RH, Non-condensing




Ordering Information

ECAT-2094S     CR  EtherCAT slave 4-axis stepper motor controller/driver (Metal Case) (RoHS)
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Hotline: 0904251826