High Performance Multi-Axis EtherCAT® Controller & DS402 Multi-Axis EtherCAT® Drive Node




SPiiPlusES as a DS402 Multi-Axis EtherCAT® Drive node

  • Can be managed by any EtherCAT Automation Controller
  • Up to 8 axes utilizing standard DS402 CoE drive commands
  • Up to 64 axes utilizing manufacturer's specific DS402 CoE drive commands
  • Distributed clock
  • Up to 5kHz EtherCAT cycle rate.

SPiiPlusES as an EhertCAT® master

  • Identical to SPiiPlusEC, powerful EtherCAT Motion Controller
  • Up to 64 axes and many I/Os
  • Up to 5kHz EtherCAT cycle rate.
  •  for cable failure detection and recovery
  • Can be synchronized to the distributed clock of the external network

The SPiiPlusES is a high performance programmable motion controller and EtherCAT Master that can be connected as a node to any EtherCAT network utilizing the standard DS402 CAN Over EtherCAT (CoE) protocol. To the external EtherCAT Master it looks like a highly programmable multi-Axis motor drive

The SPiiPlusES expands the capability of any EtherCAT Automation Controller to manage up to 64 axes and thousands of I/O utilizing ACS EtherCAT sub-network. With up to 8 drives/axes, standard DS402 commands are used. For additional drives/axes, up to 64, DS402 manufacturer’s specific commands are used. It supports distributed clock and the ability to synchronize the two EtherCAT networks. Any application in the fields of Semiconductors, Laser micro-machining, Electronics manufacturing, digital printing and more, that uses an EtherCAT automation controller will benefit from the unique and advanced capabilities of ACS programmable motion controller and wide range of drives to enhanced accuracy and throughput.




Number of Axes

As a Master: Up to 64 axes
As a slave: Up to 8 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 / threads
  • 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: sales@acsmotioncontrol.com

Host Communication Channels

Serial: two RS-232. Up to 115,200 bps
Ethernet: One, 100/1000 Mbs

EtherCAT ports

Communication with an External EtherCAT Master:
EtherCAT in & EtherCAT Out, RJ45 conenctors
As an EtherCAT Master:
(optional) - Automatic network failure detection and recovery using ring topology and redundancy



Processor: Intel® Atom™ N2600 1.6 GHz
Memory: RAM- 1Gb , Flash memory- 512MB
Cycle rate: 1, 2, 4, 5 kHz (as a function of number of axes)


Power Supply

24Vdc ± 10%, 0.8A
Protection: reverse polarity


Operating Temperature: 0°C to +50°C
Storage Temperature: -25°C to +60°C
Humidity (operating range):5% to 90% non-condensing


158 x 45 x 125 mm3


700 gr.


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

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