1, 2 drives, 85-265V, up to 7.5/15A


EtherCAT ® Single & Dual Axis
Drive Module


  • Universal single and dual axis Drive Modules for EtherCAT networks
  • 85 to 265Vac, up to 7.5A continuous and 15A peak current (~1.6kW/3.2kW@230Vac)
  • Digital control for easy setup and diagnostics
  • Dual loop with dual feedback per each axis
  • 20kHz sampling and update rate of all control loops
  • Supports incremental digital and analog encoders, absolute encoders and resolver
  • Digital I/O: 8 inputs, 8 outputs Analog I/O: 4 inputs, 2 outputs, 12 bit resolution
  • Safe Torque Off (STO)

The UDMPM is a line of EtherCAT universal single & dual axis economical drives for AC servo / DC Brushless, and DC brush motors.

The UDMPM operates as an EtherCAT node under any SPiiPlus EtherCAT master Controller including the PC based SPiiPlusSC 
Soft Controller. It is designed to address cost sensitive applications requiring better move & settle, smooth velocity and stand still jitter performance with power of up to 1.6kW/3.2kW (continuous/peak) per axis.
The UDMPM is offered with two current levels: 5A/10A (cont./peak) and 7.5A/15A.
Optional Safe Torque Off (STO) module cuts the power to the motor without removal of the power source to comply with SIL-3 and PLe safety levels.

The UDMPM is powered by a single phase 85 to 230Vac and by a separate 24Vdc control supply that keeps all low voltage signals alive during emergency conditions.



A standard comprehensive set of powerful algorithms to enhance accuracy, move & settle

time, smooth velocity, stability and robustness.

  • Advanced PIV cascaded structure
  • Loop shaping filters
  • Gain Scheduling
  • Gantry MIMO control
  • Dual feedback / loop control
  • Disturbance rejection control



Type: digital current control with field oriented control and space vector modulation.

Current ripple frequency: 40 kHz Current loop sampling rate: 20 kHz
Programmable Current loop bandwidth: up to 4kHz, will vary with tuning & load parameters.
Commutation type: sinusoidal. Initiation with and without hall sensors
Switching method: advanced unipolar PWM
Protection: Over voltage, Phase-to-phase short circuit, Short to ground, Over current, Over temperature



The module is fed by two power sources. A motor AC supply and a 24Vdc control supply. During emergency conditions there is no need to remove the 24Vdc control supply.


Motor Supply

Range: 85 to 265Vac

Current rating should be calculated based on actual load.


Control supply

Range: 24Vdc ± 10% Maximum input current / power: 4A / 100W

Note: The module consumes 2A (50W). Additional 2A are needed when the motor brake feature is used


Motor Type

Two- and three-phase permanent magnet synchronous (DC brushless/AC servo), DC brush, Voice coil, Two- and three-phase stepper (micro-stepping open or closed loop).



Incremental Digital Encoder: Four, two per axis, A&B,I; Clk/Dir,I

RS-422. Max. rate: 50 million encoder counts/sec., Protection:Encoder error, not connected
Sin-Cos Analog Encoder (optional): Two, one per axis.1Vptp, differential.
Multiplication factor: From x4, to- x4,096. Maximum frequency: 250kHz
Automatic compensation of Offset, Phase and Amplitude
Maximum acceleration: 108 million sine periods/sec2. Protection: Encoder error, not connected
Hall inputs: Two sets of three per axis. Single-ended, 5V, source, opto-isolated.
Input current: <7mA.
Resolver: 12b resolution (4,096 counts/rev)
Absolute encoders (optional): EnDat 2.1/ 2.2, Smart-ABS, Panasonic, BiSS-C, Hiperface.
Consult ACS for availability
5V feedback supply: Total current available for feedback devices: 250mA.


Digital I/O

Safety Inputs: Left + right limit per axis. Single-ended, 24V±20%, opto_isolated, source.

(Consult ACS for 5V & sink)
Input current: 4-14mA. E-Stop: Opto-isolated, floating two-terminal.
Motor Brake outputs: Two. 24V, 1A ,opt_ isolated. Powered by the 24V Control Supply. STO:
Two pairs of inputs. (Optional)
General Purpose Inputs: Eight, Single-ended, 24V±20%, opto-isolated, source. (Consult ACS for 5V and sink)
Input current: 4-14mA.
Registration Mark: Four. Two are RS422 with dedicated inputs and can be used as GP inputs.
Two share General Purpose Inputs 6,7.
General Purpose Outputs: Eight. Single-ended, 24V±20%, opto-isolated, source. 0.5A per output with up to 3A for all outputs.
Position Compare Outputs (PEG): Two PEG_Pulse and two PEG_State, RS422. Flexible axis assignment. Can be used as GP outputs.
Two GP opto-isolated outputs can be programmed to be used as the PEG Pulse outputs.
Pulse width with RS422 outputs: 26nSec to 1.75mSec. Maximum rate with RS422 outputs:
Pulse width with GP outputs: 0.75mSec to 1.75mSec. Maximum rate with GP outputs: 1kHz HSSI: One channel. RS422.


Analog I/O

Input: Two per axis. differential, ±10V, 12bit resolution, 100mV compensated offset, maximal sampling rate 250kHz

Output: Two. 10 bit resolution, differential ±10V±10%, 50mV maximal offset, 50mVp_p max. ripple, linearity better than 1%.



Operating: 0 to + 50°C.

Storage : -25 to +70°C.
Humidity: 5% to 90% non-condensing



EtherCAT: Two, In & Out, RJ45 connectors


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