2,4 drives, 12-48V, up to 2.5/5A


EtherCAT® Dual/Quad Axis Drive Module      

  • Universal dual and quad axis EtherCAT Drive Modules
  • 12Vdc to 48Vdc, up to 2.5A continuous and 5A peak current
  • Digital control for easy setup and diagnostics
  • Supports any of the following motor types by software
    settings only: 2, 3 phase permanent magnet 
    (AC Servo / DC brushless) with sinusoidal commutation,
    DC Brush, voice coils, closed and open loop step motors
  • Feedback
    4 digital incremental encoders
    2 absolute encoders (optional)
  • Digital I/O
    Inputs: 4 Registration Mark
    Outputs: 1 PEG, 2 motor brake (24V, 0.5A)
  • Small enclosure: 121x100x48 mm3
  • SPI interface for special feedback devices
  • Sub-D connectors

The UDMSD is a series of compact EtherCAT modules with dual/quad-axis universal drives for servo, step, and voice coil motors with a continuous power range of 10W to 100W (200W peak). The type of motor is selected by the user and can be set differently for each drive.

The UDMSD addresses the needs of demanding multi-axis motion applications with limited space, such as moving inspection heads, small manipulators, and table-top motion stages. The small size, low weight, and minimal cable interface makes the UDMSD ideal for mounting remotely on moving axes. It is available with currents of 1.25/2.5A and 2.5/5A (cont./peak).

The UDMSD supports four digital incremental and two absolute encoders.

It includes a Serial Peripheral Interface (SPI) to support other feedback devices, such as autofocus signals.

The unit is powered by a 12 to 48Vdc drive supply voltage and by a separate 24Vdc ±20% control supply that keeps all logic signals alive during emergency conditions.

All connectors of the motors, the encoders and the I/Os are sub-D type connectors.
The UDMSD is panel or din rail mountable.
The unit is supplied with the drive and control connectors.


CE, UL (Pending)

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany



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 (2.5/5model only)
  • Dual feedback / loop control
  • Disturbance rejection control
    Optional Servoboost™ algorithm that provides better, more consistent servo performance, insensitive to noise and large changes in the system


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: Initiation with and without hall sensors.
Switching method: advanced unipolar PWM.
Protection: over voltage, motor phase-to-phase short circuit, motor phase to ground short circuit, over-current, over-temperature.



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

Drive Supply
Range: 12Vdc to 48Vdc
Current rating should be calculated based on actual load

Control Supply
Range: 24Vdc ±20%
Maximum input power: 15W
Input current: < 1A


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).



Types: incremental digital encoders, optional: absolute encoders
Incremental Digital Encoder: Up to four, one per axis. A&B,I and Clk/Dir,
Type: Differential RS-422
Max. rate: 50 million encoder counts/sec
Protection: Encoder error, not connected
Absolute encoders (optional): Up to two. EnDat 2.1(Digital)/2.2, Panasonic,
SmartABS, and BiSS-C, SSI
5V feedback supply: Feedback devices are fed by a 5V±5% supply.
Total available current to all encoders is 1A


Digital I/O

Safety Inputs: Left and right limit inputs per axis
Type: Single-ended, 24V±20%,opto isolated, source E-Stop: 24V, Max., opto
isolated, two terminal, input current 4-14mA Unused safety inputs can be used as general purpose inputs
Registration MARK (High Speed Position Capture): Four. Fast, 24V±5%, opto-isolated, ‘sink’ type. 4-10mA input current. can be used as general purpose fast inputs
Motor Brake Outputs: Two, opto-isolated, 24V±20%, 0.5A per output.
Can be used as general purpose outputs
Position Event Generator (PEG): One, RS422. Can be used as general purpose output. Pulse width 26nSec to 1.75mSec
Maximum rate with RS422 outputs: 10MHz
SPI Interface One. Requires customized software to activate.
Consult ACS representative



Operating range: 0 to + 50°C
Storage and transportation range: -25 to +70°C
Humidity (operating range): 5% to 90% non-condensing



Two EtherCAT ports, In and Out



UDMSD-ACC1: Mating connectors’ set
UDMSD-ACC2: Din-rail mounting kit
UDMSD-ACC3: Mating connectors with 1.5m cables with flying leads , 4 axes

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