Most Powerful Motion Controller and EtherCAT Network Manager


The Most Powerful Motion Controller and                                      

EtherCAT® Network Manager                                              

  • Up to 64 fully synchronized axes
  • Up to 5KHz rate of profile generation and EtherCAT cycle
  •  network failure detection and recovery with ring topology
  • Up to 1GbE Ethernet host communication
  • Open Architecture - ACS’ and other vendor’s EtherCAT devices, drives and I/O
  • Comprehensive set of support tools for EtherCAT Network setup, axis tuning, application development, and diagnostics
  • Available in board level format for table top applications with limited space

ACS’ SPiiPlusEC is a state of the art line of Motion controllers and EtherCAT master.

It is specifically designed to extend the capabilities of the SPiiPlus line of controllers and EtherCAT master, to address the needs of modern machinery for cost effective high performance multi-axis, scalable and distributed control of motion centric applications. The SPiiPlusEC open architecture operates in conjunction with ACS’ line of EtherCAT servo and step motor drives and I/Os modules, as well as with any certified third party EtherCAT module that complies with CAN over EtherCAT (CoE) protocol. The unique  optional feature increases machines’ uptime using ring topology based redundancy to continue operation upon a network failure.

The SPiiPlusEC EtherCAT cycle and profile generation rate is 1 to 5kHz. ACS drives execute the servo control algorithms at a 20kHz rate using a distributed clock to ensure synchronization of better than 0.1 microsecond between all axes.

The SPiiPlusEC is complemented by the SPiiPlusNT suite of software tools that are designed to minimize time to market and to address the specific machine requirements throughout its whole life cycle. It provides extraordinarily easy automatic network setup, fast host and embedded application development, and quick diagnostics. Set up of third party
drives are done using by the third party tuning tools. Once connected to the EtherCAT network, real time variables, such as position, position error, velocity and others can be viewed, monitored and recorded with ACS’ tools. All tools include a built-in simulator, powerful remote access and diagnostics, and fast error recovery, reducing training effort and costs.

The SPiiPlusEC is available in two form factors:
• Panel mounted enclosure
• Board level




Number of Axes

Up to 64 axes, Thousands of I/O’s.

Motion Types

  • Multi-axis point-to-point, jog, tracking and sequential multi-point motion
  • Multi-axis segmented motion with look-ahead
  • Arbitrary path with PVT cubic interpolation
  • Third order profiles (S-curve)
  • Smooth on-the-fly change of target position or velocity
  • Inverse/Forward kinematics and coordinate transformations (at application level)
  • Master-slave with position and velocity locking (electronic gear/cam)



  • ACSPL+ powerful motion language
    - Real-time program(s) execution
    - Up to 64 simultaneously running programs
  • NC programs (G-code)
  • C/C++, .NET and many others standard languages


Supported EtherCAT Modules

All ACS EtherCAT network modules. Refer to www.acsmotioncontrol.com/products for an updated list of modules.
Non ACS Modules
ACS qualifies drives and I/O modules made by other vendors Refer to www.acsmotioncontrol.com/downloads (Non ACS Supported Drives & EtherCAT Files)
for an updated list of other vendor’s supported modules.
Other vendor’s drives supported mode is Cyclic Synchronous Position (CSP).
Additional modes are supported by some drives. Contact ACS for details:

Communication Channels

Serial: two RS-232. Up to 115,200 bps
Ethernet: One, TCP/IP, 100/1000 MbE
Simultaneous communication through all channels is fully supported
Modbus and Ethernet/IP protocol as master or slave is supported via
all channels

EtherCAT ports

Two ports, Primary and secondary
Rate: 100 Mbit/sec
Protocols: CoE and FoE
NetworkBoost™ (optional)- Automatic network failure detection and recovery
using ring topology and redundancyring topology and redundancy



Processor: Intel® Atom™ N2600 1.6 GHz
Memory: RAM- 1Gb , Flash NV memory- 512Mb


Product Maximum
Number of
Controller Cycle Time (msec)
1 0.5 0.25 0.2 Default
SPiiPlus EC-02-... 2 10 √ 1,2 √ 1,2 √ 1,2 √ 1,2 0.5
SPiiPlus EC-04-... 4 10 √ 1,2 √ 1,2 √ 1,2 √ 1,2 0.5
SPiiPlus EC-08-... 8 10 √ 1,2 √ 1,2 √ 1,2 √ 2,3 0.5
SPiiPlus EC-16-... 16 16 √ 1,2 √ 1,2 √ 2,3 - 0.5
SPiiPlus EC-32-... 32 32 √ 1,2 √ 1,2 - - 0.5
SPiiPlus EC-64-... 64 64 √ 1,2 - - - 1


  1. Extended Segmented Motion (XSEG) with no limitations.
    User should check that USAGE < 80%.
  2. NetworkBoost limitations: CTIME = 1 msec - up to 64 axes.
    CTIME = 0.50 msec - up to 24 axes . CTIME = 0.25 msec - up to 8 axes.
    CTIME = 0.20 msec - up to 4 axes
  3. Extended Segmented Motion (XSEG) with limitations:
    Segment length > 5 ms. IMM VEL = … command shouldn’t be used


Power Supply

Panel Mounted: 24Vdc ± 10%, 0.8A
Board level: 5Vdc ±5% ,2.2A


Operating Temperature: 0°C to 55°C
An internal fan is automatically activated when operating temperature
rises above 30°C
Storage Temperature: -20°C to 85°C
Humidity: 90%RH, non-condensing


Panel Mounted: 158 x 124 x 45 mm3


450 gr.


Din rail mounting kit: Part Number DINM-13-ACC (included)



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