Bio Medical

Motion Centric

Medical Scanners

Semiconductors

Digital Printing

Electronic Assembly

Smarter Motion Laser Processing

Powerful Control Solutions for FPD

Demanding Multi-Axis Machinery
better tools. effective development.

MMI Application Studio Easy Interface with a Variety of Hosts

PC PLC HMI
Program Tuning
Development Automation
controller

Diagnostics &
System Setup Monitoring
Ethernet TCP/IP & UDP / /

Powerful Controller Simulator

SOFT CONTROLLER: Use your PC to run MOTION CONTROLLER
CONTROL MODULES: EtherCAT Motion
the Most Powerful Motion Controller & EtherCAT MASTER
SPiiPlusSC SPiiPlusES SPiiPlusEC SPiiPlusCMNT SPiiPlusCMHP/BA SPiiPlusCMHV
inside a User Specified PC Built-in Bridge 320Vdc, 7.5/15A 3 built-in drives 2 built-in drives
EtherCAT to EtherCAT Input: 230Vac 320Vdc, 15/30A 675Vdc, 15/30A, 320Vdc, 20/60A
Input: 230Vac Input: 230Vac, 480Vac

pages 8-9
/2 /3 /2

page 15 page 14 page 12 page 16-17 page 16-17 page 16-17

Smarter Tools for Laser Micro-machining

Up to 64 axes and thousands of I/Os

SPiiPlusSMC SPiiPlusSPC
Smart Motion Smart Laser Processing
Commander Commander UNIVERSAL DRIVE MODULES: Outstanding Move & Settle, Nanometer Jitter, Smooth Velocity

UDMLC UDMSD UDMPC UDMNT UDMMC UDMCB UDMPA SDMNT UDMPM UDMHP/BA UDMHV MC4UDC MP4U NPMPC
48Vdc, 5/10A 48Vdc, 2.5/5A 48Vdc, 10/20A 80Vdc, 10/20A 80Vdc, 20/40A 100Vdc, 13.3/40A 100Vdc, 13.3/40A Unipolar stepper 320Vdc, 7.5/15A 320Vdc, 15/30A 675Vdc, 15/30A 560Vdc, 15/30A 100Vdc, 13.3/40A 100Vdc, 13.3/40A
40Vdc, 3A Input: 230Vac Input: 230Vac 320Vdc, 20/60A 320Vdc, 45/90A Input: 110Vac, 230Vac
Input: 110Vac, 230Vac Input: 230Vac, 480Vac Input: 230Vac, 400Vac

/4 /4 /2 /2 /4 /4 /2 /8 /2 /3 /2 /8 /8 /2
rotom yratoR rotom yratoR

details in NanoPWM flyer

pages 10-11 pages 24-26

EtherCAT® is registered trademark and patented technology, licensed by beckhoff automation GmbH, germany
 standard products. tailored solution.

Controller with Built-In Drives DRIVES with ±10V Current Commutation Commands

MP4U MC4UNT NPAPC NPAPM NPARM

100Vdc, 13.3/40A 560Vdc, 15/30A 100Vdc, 13.3/40A 100Vdc, 13.3/40A 100Vdc, 13.3/40A
Input: 110Vac, 230Vac 320Vdc, 45/90A Input: 110Vac, 230Vac
Input: 230Vac, 400Vac

±10V ±10V ±10V

Motion
Controller

/8 /8 /2 /2 /8

DR
page 22-23 pages 18-21
details in NanoPWM flyer

INTERFACES I/O Others

NPMPM UDIHP/LT PDMNT PDICL LCMV2 IOMNT IOMPS

100Vdc, 13.3/40A ±10V drives P/D drives P/D drives Laser Control Digital 24V I/O Ananlog and Digital 24V I/O
with feedback Module

Drives
I/Os
Analog Digital Sensors
16 bit

/ 32 / 32 /4 /4 / 16 / 16 / 32 / 32 Products
in out in out in out in out supporting
/2 /4 /4 /4 CoE protocol

page 27 page 28 page 29

3
Better Support. Powerful Solutions.

ACS Motion Control is a global manufacturer of high performance machine

control systems for demanding motion centric applications.

Since 1985, ACS Motion Control has provided state of the art control
solutions to world leading manufacturers, such as GE, Philips,
Applied Materials, Samsung and LG. ACS has its international
headquarters in Israel with sales and support centers in the USA,
China and South Korea.
Backed by an ISO9001-certified design and manufacturing facility
with an ongoing commitment to quality control and reliability
testing, ACS Motion Control works with an experienced and well
trained full solution provider network that provides sales support
and customer service worldwide.

Advanced System Testing Laboratory

We provide periodical training at ACS premises as well as tailored

classes at customer's sites
State of the art Assembly, testing and repair facility

With proven technical expertise and decades of application experience,

ACS Application Development and Support team helps customers realizing
a true competitive advantage by optimizing the accuracy and throughput
of their system.

4
 Advanced Technology. Ultimate Performance.

Powerful Platform Designed for Performance

ACS’ powerful platform consists of an EtherCAT Controller MPU (Motion Processor Unit) and one Servo U
MP

EtherCAT real-time network

Processor (SPii) at each EtherCAT node. The MPU can manage systems with up to 64 synchronized
ii
SP
axes, executing all high level tasks, such as communication with an host PC, real time ACSPL+
programs, diagnostics, I/O control and profile generation. The SPii floating point processor at each
node executes the real time control algorithms for up to four axes, always at a sampling and update Controller
ii
SP
rate of 20kHz for each and every axis. The MPU can modify and update the SPii control algorithm, Axes and I/Os
inject excitation signals to the controlled plant and sample real time data, such as position error,
at 20kHz. ACS has utilized a distributed processor platform for over 20 years. Adoption of EtherCAT ii
SP
has been a natural, smooth evolution. All safety related issues encountered when implementing a Axes and I/Os
distributed control platform, the impact of one node failure on other nodes and failure of the master
controller on all nodes, have been solved long ago, enabling ACS to provide the most robust and ii
SP Axes and I/Os
advanced EtherCAT control solutions in the industry today.

High Level Integration, Enhancing Accuracy & Throughput

Performance depends on all components - controller, software,
drives, power supply, interconnection and support tools. Each
of these components are designed and optimized to achieve
one goal: Enhancing the performance of your machine. The Drives
complete system is tested to ensure an uncompromising level Power Supply Controller
of performance.

Leverage our Know-how and Experience

ACS’ control experts have many years of experience with state of
the art applications in the fields of semiconductor inspection, Laser
Micro-machining, digital printing, electronic assembly and other
demanding systems. These highly skilled engineers will help to
ensure that your entire system operation is optimized in terms of
performance, robustness, stability, and sensitivity to mechanical
changes, such as load, friction and component parameter
deviations. If your application calls for some special needs, such as
accurate force control for wire bonding or dynamic high bandwidth
auto-focus, we have the knowhow and experience to implement
and test the solution. ACS takes pride in its long, rich history of
enabling our customers to push the boundaries of performance,
accuracy and throughput.

- for Unprecedented Performance

combines a unique set of control algorithms with special hardware to provide better
and more consistent servo performance that is insensitive to disturbances, noise, and large
changes in the controlled system. should be considered when:
• Move and settle specifications cannot be achieved.
• Extremely high accuracy constant velocity is required. With

• Standstill position jitter specifications cannot be achieved.

• There are large changes in load or system dynamics that affect performance.
• There are weakly damped resonances.
• The system is characterized by low stiffness or large inertia mismatch.

Position Error (red) following a 50% load

increase with standard algorithm

5
Nanometer Positioning and High Velocities ±0.4nm
jitter
For systems demanding high-speed and nanometer position
resolutions, till now OEMs have been limited to expensive laser 1nm
steps
interferometer feedback systems. With ACS’s 10MHz Sin-Cos
encoder multiplier, designers have a significant lower cost and
simple alternative, using analog laser-based ultra-fast encoders.

0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 [sec]

Replaces Linear Drives

Utilizing ACS’s patented technology the drives control Using a SPiiPlus controller and drives controlling linear
the motor current with an unprecedented dynamic range of stages, the following performance has been achieved:
100,000 (100db!), providing the ultimate standstill jitter and velocity
• Standstill jitter better than ±0.3nm! (Mechanical table)
smoothness performance!
• Following error of ±10nm at speeds of 100mm/second! (Air-
Compared to best in class commercially-available linear drives, the bearing table)
drives offer: better motion performance (guaranteed!),
Two lines of drives are available:
significant smaller size and lower weight, fraction of heat
dissipation, and more economical pricing. The drive is 1. drives that are EtherCAT slaves and operate with any
the ultimate drive for 450mm and 300mm wafer handling stages, ACS' motion controllers. It includes: MC4U, MP4U, NPMpc, NPMpm.
and for any application demanding high speed and acceleration, 2. A direct replacement for linear drives with ±10V sine commutation
smooth velocity and sub-nanometer standstill jitter. commands. It includes: NPApc, NPApm, NPArm.
For more details see the products brochure.

The Most Accurate and Flexible Gantry Control

For highly accurate gantry positioning tables, where two motors (each with its own feedback) are used to control an axis, ACS Motion
Control has developed unique and powerful algorithms that provide an unprecedented level of position accuracy, speed stability,
and settling time.

Gantry algorithm key features: Advantages:

• MIMO Control with decoupled loops: • Higher bandwidth
Loop controlling the longitudinal direction • Better stability
Loop controlling the rotational (yaw) direction
• Minimal crosstalk
• Automatic force / encoder scheduling
• Easy tuning
as a function of the cross axis position
• Reliable operation
• Dynamic compensation for the yaw angle
• Suitable for both “stiff” and “flexible” gantries

Unique capabilities for the highest Powerful Laser Micro-machining

performance • G-code
• 20kHz position • 5D path lookahead
• 5kHz profile generator • Corner rounding
• Velocity and current sampling&update rate for all axes
• Multi-axis synchronization

6
 Smarter Programming. Better Control.

The Most Advanced and Capable

Motion Controller
• Up to 64 axes
• ACSPL+ multi-tasking motion programming language
• Extensive API for host programming

ACSPL+ Powerful and Simple

Motion Programming
ACSPL+ is a motion control oriented multi-tasking high level
language with up to 64 threads that run simultaneously. ACSPL+
simplfies implementation of highly complex motion-time events and
sequences with accurate positioning and timing. G&M ("G-code")
commands are an integral part of ACSPL+ and non-standard G&M
commands can be defined by ACSPL+ routines.
• Multi-axis point-to-point, jog, tracking and sequential • Complex mathematical expressions and a rich set of logical,
multipoint motion statistical, arithmetic, trigonometric and signal processing functions
• Multi-axis path made of arcs and lines with advanced look- • User-defined auto-routines (software programmable
ahead corner processing for optimal accuracy and throughput interrupts), triggered instantly when a a logical condition
• Arbitrary path with PVT cubic interpolation is satisfied
• Third order profiles (S-curve) • User’s programmable responses for any safety related event
or system error
• Smooth on-the-fly change of target position and motion
parameters • Real time data collection at rates up to 20kHz
• Inverse/Forward kinematics and coordinate transformations • Dedicated functions for laser activation and synchronization
with a motion
• Master-slave with position and velocity locking (electronic
gear/cam) and virtual master axis • digital control of laser beam power
• pulse synchronization with 2D/3D/5D motion path at specific
• User-defined units
positions or to a segment of motion
• 64-bit floating point arithmetic

Complex Motion. Simple Programming.

• GLOBAL REAL PI, RADIUS • ENABLE (X,Y) • GOTO STARTLOOP
• GLOBAL INT COUNTER, VERTICES • STARTLOOP: • STOP
• PI=ACOS(-1) • PTP/E (X,Y)
RADIUS*COS(2*PI*COUNTER/VERTICES)
• COUNTER=0
• RADIUS*SIN(2*PI*COUNTER/VERTICES)
• VERTICES=100 • COUNTER=COUNTER+1
• RADIUS=500

SPiiPlus Library - API for Host Programming

The SPiiPlus library supports simultaneous communications and multi-threaded applications with up to sixteen communication channels
and interrupts with callback functions. One application can communicate with several controllers or several applications can communicate
with one controller. The library resolves all communication traffic issues. A comprehensive set of drivers, in conjunction with C and COM
Dynamic Link Library (DLL), are provided for programming in C/ C++/C#/.NET/Visual Basic and LabView. The library supports Windows XP,
ME, Vista, 7, 8 and 10 (both 32 and 64 bit) and is continuously updated to support new versions.

MODBUS and Ethernet/IP

MODBUS TCP and Serial protocols enable various HMI operator interface terminals to
interface with the controller. Ethernet/IP support provides the ability to interface directly
to Rockwell PLC devices using explicit and implicit messaging.

7
Better Tools. Higher Productivity.

SPiiPlus ADK Suite with Powerful Simulator for Faster Setup,

Development & Diagnostics
The SPiiPlus ADK Suite of tools minimizes time to market while providing the flexibility to meet
the specific machine requirements throughout its entire life cycle. It provides extraordinarily easy
setup, fast application development, and quick diagnostics.
With the SPiiPlus real time Simulator, you can develop the entire Windows host front end
application, and a full simulation of the entire machine using ACSPL+ programs to emulate real life
behavior of moving axes, inputs, outputs, safety faults, errors and interaction between them.
The front end host program and on-board controller programs can then be logically tested and
debugged from a desktop or laptop computer without attaching any hardware.

The SPiiPlus ADK Suite includes the SPiiPlus MMI Application Studio, the SPiiPlus Utilities
for software maintenance and application management, comprehensive documentation
of all ACS products and software tools, and a training program.
The latest version of the SPiiPlus ADK Suite can be downloaded from the ACS Motion
Control website.

The Best Printer Requires

the Best Controller
Durst Phototechnik is a market leader
in the field of industrial digital printers for
paper, textile ceramic tiles and more.
Durst uses multiple configurations of the
MC4U integrated control module.
“What I really like when using ACS Motion
Control systems is the high flexibility
and high performance of the controllers.
You can drive a linear motor, ac servo
or stepper drive on the same output
and it is possible to scale the number
of drives as needed but the interface
is always the same. ACS Motion Control
has great support, real experts and
sophisticated algorithms also for tricky
and challenging projects.
They are always open for direct contact
in case of problems and for customized
adjustments of the controllers if needed.”

Digital printing O.F., System Engineer,

Durst Phototechnik AG

8
SPiiPlus MMI Application Studio
The MMI provides an easy-to-use set of powerful tools for configuring, tuning, programming, monitoring and motion performance
measurement and analysis. Among others, it includes:
• Automatic system and EtherCAT Network configuration • An optional Motion Performance Analyzer (MPA)
• ACS Adjuster with one-parameter axis tuning • A communication terminal
• ACSPL+ program manager and development environment • A motion manager
• An eight channel interactive oscilloscope with FFT capability • I/O and safety setup & monitoring tool
• A system frequency response function analyzer (FRF) • Application management tools

Motion design and testing

Complete ACSPL+ application development
Eight channel scope with 20kHz sampling rate and debugging environment

Simple system setup. Automatic EtherCAT network configuration.

9
Software Applications -
Smarter Tools for CNC and Laser Micro-machining

SPiiPlusSPC
Smart Processing Commander
Machine Control Interface for High
Precision Laser Processing Applications

The SPiiPlusSPC is user interface software for high precision laser

processing equipment that provides complete machine control
and easily integrates, manages, and coordinates the SPiiPlus motion
control system, laser, and other potential machine peripherals (vision,
galvo, etc.).
SPiiPlusSPC can be used as an ‘out of the box’ solution for complete
machine control functionality, completely eliminating the need for user
interface development.
For more complex applications developed by System Integrators
and OEMs, customization options are available through ACS and it’s
partners, or via user created plugins.

Key Functionalities
• Leverages SPiiPlus EtherCAT based motion control product line for complete machine control
• Easy to use, comprehensive environment for manual and automated machine operation
• Suitable for many 2D and 3D laser processing applications ‘out of the box’, with customization options available
for more complex applications
• Suitable for any PC running Windows 7/8/10, optimized to require minimal Windows resources
• Control Galvo Scanner and Stage from a single interface
• Easily integrate vision components for automated alignment and calibration

Sophisticated laser control options synchronized with single and multi-axis motion
via LCMV2 laser control module and drives
• Power modulation via digital or analog signal
• Fixed distance pulse firing
• Array based pulse firing
• Axis range windowing
• Array based gating
• Combining multiple modes simultaneously

Combination of SPiiPlusSPC and SPiiPlus Motion

Controller – designed to maximize process
throughput and accuracy at every level
• Motion recipe planning - Optimal order of recipe execution
• Motion trajectory generation - Maximizing speed while
minimizing jerkiness through corners and small geometries
• Servo performance - Ensuring motion axes follow desired
path as closely as possible

10
 SPiiPlusSMC
Smart Motion Commander
Customizable CNC HMI Platform
for High Precision Machining and
Processing Applications

SPiiPlusSMC is a CNC HMI software platform for OEMs and system

integrators of high precision machining and material processing
equipment such as laser cutting / processing / Micro-machining,
precision grinding, additive manufacturing, and more.
SPiiPlusSMC, which leverages a SPiiPlus EtherCAT based control system
as the CNC controller, is designed primarily with flexibility and ease of
customization in mind and allows the machine builder to significantly
reduce effort spent on developing and maintaining HMI software.
Instead the machine builder can focus on optimizing the application and
improving machine performance, resulting in shorter time to market
and greater machine accuracy, precision, and throughput.

Key Functionalities
• Leverages SPiiPlus EtherCAT based motion control product line for CNC control
• User-customization via MS Visual C#, customization also offered by ACS and it’s partners
• Integrate vision, visualization, application specific screens, etc.
• Simulation mode for highly efficient and flexible development and testing
• Accepts NC files with Standard RS-274 G & M Codes, support for User Definable G & M Codes
• Suitable for any PC running Windows 7 and newer, optimized to require minimal Windows resources

11
A Wide Line of EtherCAT Motion Controllers
to Match Your Needs

A family of Motion Controllers, One Common Architecture, One Set of Tools

• A powerful programmable multi-axis motion controller and • Supporting third party IO and motor drives that comply with CoE
EtherCAT Master (CAN Over EtherCAT)
• Migrating from one to another involves minimal effort • One common computing platform and set of tools

Each integrated Control Module is also an EtherCAT Master Controller

The Control Module integrates a motion controller and EtherCAT Master, one to eight motor drives and power supply. The line of
SPiiPlusCMxx and the MC4UNT are powerful and economical standalone complete solutions. The integrated controller can control up to 64
axes and hundreds of IO points, providing a unique compact solution, that is flexible and scalable. The Control Module communicates with a
host computer through Ethernet and RS232 communication channels (See pages 16-21 for more information).

HMI
ETHERNET

HMI User MC4U DC MC4U DC

Application 8-Axis Drive SPiiPlusDC 6-Axis SPiiPlusDC
Module Drive
Module
/8 /6
MC4U NT
EtherCAT
controller
UDM PM -2-320
SPiiPlusNT
/8 2-Axis Drive
SPiiPlus EtherCAT
Module
Controller

Control Module - Integrated IOM NT UDM NT PDM NT

controller, drives and supplies 32/32 Digital I/O 2-Axis Drive 4X Pulse/Dir /4
/2
/2
Points Module Interface

SPiiPlusEC Powerful Motion Controller and EtherCAT® Network Manager

The SPiiPlusEC 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 EtherCAT module that complies with CAN over EtherCAT (CoE) protocol.
The SPiiPlusEC controls up to 64 axes and thousand of I/Os and supports cycle and profile generation rates of 1 to 5kHz. The SPiiPlusEC (as
well as the SPiiPlusSC) support the unique optional feature that increases machines’ uptime by using ring topology based
redundancy to continue operation upon a network failure.

HMI
ETHERNET

MC4U DC MC4U DC
HMI User 8-Axis 6-Axis
SPiiPlusDC SPiiPlusDC
Application Drive Drive
Module Module
/8 /6
SPiiPlusEC
EtherCAT
controller UDM PM -2-320
2-Axis Drive Module
Ring topology
IOM NT UDM PC PDM NT
32/32 2-Axis /2
/2
4X Pulse/Dir
Digital I/O Drive /4
Interface
Points Module
SPiiPlusEC

12
SPiiPlusSC PC-based EtherCAT Motion Controller
The SPiiPlusSC Controller & EtherCAT converts your standard PC into the most powerful motion and machine controller at the lowest price.
(See pages 12, 13 for more information).

ETHERNET

HMI

HMI User
Application MC4U DC MC4U DC
8-Axis SPiiPlusDC
SPiiPlusDC 6-Axis
Drive Drive
All in one: Module Module
User Application
SPiiPlusSC EtherCAT /8

Ring topology Controller UDM PM -2-320

2-Axis Drive
Module

/2
IOM NT UDM LC PDM NT
32/32 Digital /4 /4
4-Axis 4X Pulse/Dir
I/O Points Drive Interface
Module

SPiiPlusSC
PC-based Controller

State-of-the-art SMT assembly system uses the most advanced EtherCAT based
control system
Assembléon provides Pick & Place solutions for the electronics
manufacturing industry. The iFlex SMT assembly system places
up to 70,000 parts per hour. It has up to 40 axes of motion
and hundreds of I/Os. The SPiiPlusSC soft EtherCAT motion
controller manages the entire system. It controls the ACS servo
and stepper drives, I/Os, and non-ACS drives. Assembléon
implemented all real time functionality in the ACSPL+ controller
programming language.
“ACSPL+ provided the real-time environment and the parallelism
we needed,enabling us to make changes and test them easily.
This, together with the Simulator, which all our software
developers use heavily to test their software, saved us a lot of
development time. With the SPiiPlusSC that runs on the host PC
and communicates with the Windows environment through fast
shared memory, there is no communication limitation when you
have a host-based application program that requires intensive
and fast communication with the controller. When we started this
project, EtherCAT was new to us. Without ACS’ know-how, flexibility,
and support, it would have taken us much more time to complete
the project”
Electronic Assembly
R.v.d.B, Motion Architect, Assembléon

13
SPiiPlusES - Leverage on All ACS Powerful Capabilities
With Any EtherCAT Automation Controller

• Combines the powerful SPiiPlusEC Motion Controller and an high speed EtherCAT_to_EtherCAT bridge
• Adds the powerful motion control capabilities of the SPiiPlusEC to any Automation Controller using EtherCAT and DS402
• The clocks of the two EtherCAT networks can be synchronized

SPiiPlusES as a node
• Can be managed by any EtherCAT Automation Controller with DS402 protocol
• Standard support for up to 8 axes
• Support for up to 64 axes using manufurer’s specific commands
• 1, 2, 4 & 5kHz EtherCAT cycle rates

SPiiPlusES as an EtherCAT Master

• Identical to SPiiPlusEC, the most powerful Motion Controller & EtherCAT Master
• Up to 64 axes and many I/Os
• 1,2,4 & 5kHz EtherCAT cycle rates
• cable failure detection and recovery

Adds ACS' unique capabilities to enhance accuracy and throughput in the field of Semiconductors, Laser micro-machining,
digital printing and more.

Laser Micro-machining Wafer Metrology

Automation Automation
Controller Controller

/ 32 / 32
in out

Drive SPiiPlusES Drive Drive SPiiPlusES

I/O

UDM HP/BA UDM NT MP4U IOM NT

/2
Laser
Controller / 32 / 32
in out

Laser
X/Y Stage X/Y Stage I/O

14
 The SPiiPlusSC Turns Your Standard PC Into the
Most Advanced EtherCAT Motion Controller

Powerful Motion Controller and PLC... for Demanding Applications

• Up to 64 fully synchronized axes and thousands of I/O points
• High-speed Host-Controller communication over shared RAM
• Programming by ACSPL+ powerful multi-tasking motion language
Motion Centric Semiconductors Electronic Assembly FPD
• Full API for Windows based host programming
• Open architecture - supports ACS and other vendors’ qualified
EtherCAT components
• - enhancing machine uptime using ring topology Bio Medical Medical Scanners Digital Printing Laser Processing
to continue operation when a network cable fails

The Best Control Solution for Motion- All in one

Centric Applications • GUI
• Macine Application software
The SPiiPlusSC PC-based Soft Controller provides demanding
machinery with the highest performance possible at the most • SPiiPlusSC
affordable price, leveraging on the processing power of modern PC • Motion Controller & PLC
technology and on the simple connectivity of EtherCAT network. Software
Now, a standard PC with Windows can run your machine application,
the Graphical User Interface (GUI), and the SPiiPlusSC motion controller,
and PLC without adding any hardware. The SPiiPlusSC includes its
own real-time operating system, which runs on one of the cores of
a multi-core PC. It communicates with the host applications through
shared RAM and virtual TCP/IP. It manages the EtherCAT network /8 /4 /2
using one of the Ethernet ports of the PC. The result - the highest rotom yratoR

performance and most flexible controller at the best price. The

SPiiPlusSC is also a more cost effective, state of the art replacement
for standalone motion controllers and PLCs. It is more powerful and SPiiPlusSC LT HP
it simplifies connectivity of the entire system by eliminating the Maximum Number of Axes 8 64
dedicated controller hardware. The SPiiPlusSC (as well as the SPiiPlusEC
ACSPL+ buffers (threads) 8 64
standalone controller) support the unique optional
feature that increases machines’ uptime by using ring topology Host application interface TCP/IP Shared RAM+TCP/IP
based redundancy to continue operation upon a network failure. EtherCAT Cycle rate 1 kHz Up to 5kHz
The controller is available in two versions: The SPiiPlusSC-HP for Control loops update rate 20 kHz
complex and performance demanding applications with up to 64 axes,
and the SPiiPlusSC-LT, an economical version that addresses the needs
Shared RAM R/W operations Microseconds
of one to eight axes cost sensitive applications. Both versions provide
the same uncompromising servo and motion performance. The table Read/Write single value 8
on the right depicts the differences between the two. Read/Write of 200 values 26

Read/Write of 2000 values 226

The Most Efficient Host-Controller Callback Round-Trip Time 100+(Cycle-time)/2

Communication Average execution time, statistics over 100,000 samples

The SPiiPlusSC communicates with the host applications over

virtual TCP/IP and over the 100kByte of shared RAM (HP version only) with Inter-Processor Interrupt (IPI) based Callbacks. Communication
over the shared RAM guarantees that your machine throughput will not be affected by any communication bottlenecks. The user defines
the variables that reside in the shared RAM. Once defined, both the controller and the host application have instantaneous access to
such variables.

Just a Standard PC With No Special Requirements

Any PC with the following minimal requirements can host the SPiiPlsSC: Dual (or more)-core Intel, 1 GB RAM, a Network Interface Controller
(NIC) for EtherCAT communication, hard drive or flash disk, standard communication interfaces, Windows 7 or newer, 7 embedded, XP and
XP Embedded. No need for any Windows real-time extension.

15
Control Modules -
Integrated EtherCAT Motion Controller & Drives

A Wide Line of Ready-made Solutions, Now Scalable

ACS’ Control Modules combine a powerful EtherCAT motion controller, with up to 8 universal motor drives and a power supply all contained
in a compact enclosure. The type of motor - rotary or linear, DC or AC, single, two or three phase is programmable. Now every Control
Module, as an EtherCAT Controller, can control up to 32 axes and thousands of IO points!
Each controller manages and generates the motion profile for up to 32 axes. The EtherCAT network scanning rate is up to 2kHz. All drives
are highly synchronized by a distributed clock with accuracy better than 0.1 microsecond, and execute the control algorithms at a 20kHz rate.
Each control module is powered by an AC input (rectified internally to generate a Vac x 1.4 motor bus voltage) and by a separate 24Vdc
control supply that keeps all logic signals alive during emergency conditions. They support a wide range of incremental, both digital as well
as analog Sin-Cos, and absolute position feedback devices.
The line of Control Modules consists of the following:

MC4UNT up to 8 built-in drives, wide range of voltages and currents

A modular system that allows you to mix and match controllers, high voltage drivers and supplies to meet
your specific needs. See pages 18-21.

MP4U up to 8 integrated drives, up to 100Vdc and wide range of currents

A modular system that allows you to mix and match controllers, and economical low voltage
(48, 96Vdc) drivers and supplies to meet your specific needs. See pages 22,23.

SPiiPlusCMNT 2 built-in drives, up to 320Vdc, 7.5A/15A

An economical line of EtherCAT and multi-axis machine and motion controllers with two built-in universal
drives. It is designed to address the needs of cost sensitive applications such as digital printers and PCB
automatic optical inspection systems.
The SPiiPlusCMNT is fed by a single phase AC voltage of 85 to 230Vac and is offered with the following current
levels: 2.5A/5A (cont./peak), 5/10A and 7.5A/15A. Optional Safe Torque Off (STO) cuts the power to the motor
without removal of the power source to comply with SIL-3 and PLe safety levels. It supports the following
position feedback devices: incremental digital (total of 4) and analog (Sin-Cos) encoders, absolute encoders
and resolvers.
270 x 157 x 67 mm3

SPiiPlusCMHP/BA 3 built-in drives, up to 320Vdc, 15A/30A

A line of EtherCAT network controllers and multi-axis machine and motion controllers with up to three built-in
universal drives. The SPiiPlusCMHP addresses high accuracy demanding applications, and the SPiiPlusCMBA
addresses cost sensitive applications. The modules are fed by a single or 3-phase AC voltage in the range of
85 to 230Vac and are offered with three current levels: 5A/10A (cont./peak), 10/20 and 15/30A.
It supports the following position feedback devices: incremental digital (total of 4) and analog (Sin-Cos)
encoders, absolute encoders.
Optional built-in LC1 Laser control interface and PDM Pulse/Direction interface to four step motor drives are
324 x 249 x 120 mm3 available.

16
 SPiiPlusCMHV 2 built-in drives, up to 480V, 15/30A or 230V, 20/60A
The SPiiPlusCMHV EtherCAT motion controller includes two high power universal drives. It is designed to
address the needs of large positioning tables with high dynamics and accuracy requirements, such as FPD
(Flat Panel Display) handling systems, large industrial printers and medical scanners.
The SPiiPlusCMHV is offered with the following voltage and current levels:
230-480V with currents of 5/10A, 10/20A, 15/30A for both drives or with 20/20A for one drive and 5/10A
for the second drive.
230V with 10/30A, 15/45A, and 20/60A for both drives.
Optional Safe Torque Off (STO) cuts the power to the motor without removal of the power source to comply
260 x 246 x 120 mm3 with SIL-3 and PLe safety levels. It supports the following position feedback devices: incremental digital
(total of 4) and analog (Sin-Cos) encoders, absolute encoders and resolvers.

The following table describes the main characteristics of each type:

Motor Current
Built in Supply Cont./ Ana. Special Special Dimensions
Product In Out Ana. In Feedback
drives voltage Peak Sine Out Inputs Outputs [mm3]
[Vin] amp [A]

1 per axis: incremental digital

Up to
7 PEG Sin-Cos encoders (optional)
85-400 Up to 8 MARK
MC4UNT 2 to 8 8 8 Up to 4 Up to 4 up to See page 20
Vac 45/90 STO Absolute (optional)
8 brake
E-stop
3 hall inputs per axis

2 per axis: incremental digital

Up to 2 Sin-Cos encoders per axis
Up to 8 PEG (optional)
Up to See See
MP4U 2 to 8 100-240 Up to 16 Up to 16 16 MARK up to 436x261x266
13.3/40 (*) (*) Up to 2 Absolute encoders per axis
Vac STO 8 brake
(optional)
3 hall inputs per axis

Up to 4 incremental digital

4 MARK 0, 1, 2 Sin-Cos encoders (optional)

85-230 Up to 4 PEG
SPiiPlusCMNT 1,2 8 8 4 2 STO 0, 1, 2 Absolute (optional) 270x157x67
Vac 7.5/15 2 brake
E-stop 0, 1, 2 Resolvers
3 hall inputs per axis

Up to 4 incremental digital
SPiiPlus 85-230 Up to 4 MARK 10 PEG 0, 1, 2, 3 Sin-Cos encoders (optional)
2,3 8 8 Up to 6 2 324x249x120
CMHP/BA Vac 15/30 E-stop 3 brake 0, 1, 2, 3 Absolute (optional)
3 hall inputs per axis

230-480 Up to Up to 4 incremental digital

Vac 15/30 4 MARK 0, 1, 2 Sin-Cos encoders (optional)
4 PEG
SPiiPlusCMHV 1,2 8 8 4 2 STO 0, 1, 2 Absolute (optional) 260x246x120
2 brake
230 Up to E-stop 0, 1 ,2 Resolvers
VAC 20/60 3 hall inputs per axis

* Special inputs/outputs can also be assigned for use as general purpose I/O.
** Each unit is powered also by a 24Vdc logic supply.
The internal motor DC bus voltage is Vacx1.4.
*** Absolute encoders supported: EnDat2.1(Digital) / 2.2, Tamagawa Smart-Abs, Panasonic,
Hiperface (except SPiiPlusCMHP/BA), BiSS-A/B/C, SSI

Host PC
IOMNT UDMLC UDIHP SPiiPlusCMHP EtherCAT
Controller

17
MC4U - Modular Control solution
With High Power & Voltage Drives

MC4U: Customized Multi-axis Control Using Standard Components

• Integrated motion & machine controller, 8 universal built-in drives and power supply
• Units can be networked together to create a fully integrated solution for up to 64 axes and hundreds of I/Os
• Wide power range of motor drives - from 100W to 10kW
• High axis density
• Short lead time for a fully custom-tailored application
• Shorter development time, reduced risk, lower cost
• ACS field proven robustness and reliability
• drives that replace linear drives, delivering higher performance and higher power, enhanced reliability at smaller
size and at better price.

The MC4U is a unique modular complete solution that addresses the tailor-made, flexible machine and motion control needs
of OEMs. The MC4U’s high performance, Lego-like system combines an EtherCAT controller (for MC4UNT) or drive controller
(for MC4UDC), up to 8 universal motor drives, and power supplies with networking to provide a complete machine and motion
control solution to demanding motion centric machine automation. Built from standard plug-in components, the MC4U
addresses all machine control needs, resulting in shorter development cycle time, reduced risk, small footprint and lower costs.
High performance stems from the fine balance and interaction of the controller software, its hardware interfaces, the drives, the
power supplies and the precise integration of all components. Each and every component is designed to deliver performance
and the system is tested as a whole to ensure that your most demanding specifications can be achieved. Now many MC4U units
and additional ACS and third party EtherCAT components can be networked together, thus creating a single highly integrated
system with up to 64 axes and hundreds more I/Os.

The Upright Piano Enclosure - Simple Connectivity, the Right Size

Different enclosure sizes are available to provide the minimum size and volume needed to meet your power and number of axes needs.

Enclosure dimensions MC4U configuration example

Enclosure 22” 19” 11” 9”

Height 221.5 ±1
Width [mm]
With front brackets --- 483 ±1 --- ---
With rear brackets 542 ±1 476 ±1 316.7±1 251±1
With no brackets 502 ±1 436 ±1 276.7±1 211±1
Depth [mm]
With extractors 292 ±1 292 ±1 287.3±1 287.3±1
Without extractors 279 ±1 279 ±1 273.8±1 273.8±1 4 axis Drive Module
Net weight [Kg] 4.9 4.3 2.6 2

2 axis Drive Module

SPiiPlusNT or SPiiPlusDC
Power Supply Controllers

18
Modularity & Scalability by Design
The MC4U can be configured to meet the needs of your system with regards to number of axes, power, features and performance.
For your specific application you select:
1. The proper controller - One that is also an EtherCAT Controller (SPiiPlusNT) or just a Drive Controller (SPiiPlusDC) to be managed
by an EtherCAT Controller; a high performance one with extensive set of advanced features (HP) or an economical one that
reduces the cost (LT).
2. The set of drives to meet your exact motor type and power needs.
3. The power supply to meet the motor drives power needs.
4. The proper enclosure that optimizes footprint.

Powerful Motion and EtherCAT Controllers or

Drives Controllers
The SPiiPlusNT/DC family of multi-axis EtherCAT controllers (NT) and Drive Controllers (DC)
is designed to address the control requirements of the most demanding motion centric
applications, such as semiconductors manufacturing, electronic assembly, wafer inspection, Flat
Panel Display assembly and testing equipment. The SPiiPlusNT/DC provides outstanding motion
performance, sub-nanometer resolution, high speed for maximum throughput, smooth velocity,
ease of use, and excellent scalability using an EtherCAT network. The SPiiPlusNT can manage a
network of up to 32 axes. (If more axes are needed, then the SPiiPlusNTM or SPiiplusSC can be
used). For distributed systems with additional EtherCAT nodes, one unit, designated MC4UNT
acts as the EtherCAT controller, using a SPiiPlusNT. supports fast analog Sin-Cos encoders with
raw frequencies up to 5MHz. This enables running stages using high resolution laser encoders
with sub-nanometer resolution at more than 1 meter/second.
All other units, which are clusters of drives (MC4UDC), include a SPiiPlusDC Drive Controller. SPiiPlusNT EtherCAT Controller
If a separate EtherCAT controller is used, such as the SPiiPlusNTM or the SPiiPlusSC, then all SPiiPlusDC EtherCAT Drive Controller
units are of MC4UDC type and each one includes a SPiiPlusDC Drive Controller.

SPiiPlusNT Line of Motion and EtherCAT Controllers; up to 32 axes:

1. SPiiPlusNT-LT - Economical motion controller. All built-in drives are PWM.
2. SPiiPlusNT-HP - High Performance motion controller. All built-in drives are PWM.
3. SPiiPlusNT-LD - High Performance motion controller. One to four built-in drives are linear.

SPiiPlusDC line of Drive Controllers; up to 8 axes: SPiiPlusNT EtherCAT

Controller
1. SPiiPlusDC-LT - Economical drive controller. All built-in drives are PWM.
2. SPiiPlusDC-HP - High Performance drive controller. All built-in drives are PWM.
3. SPiiPlusDC-LD - High Performance drive controller. One to four built-in drives are linear.

Choose the SPiiPlusNT/DC-HP if one of the following is needed:

• Sin-Cos analog encoders with high multiplication factor.
• Special control algorithm, such as Gantry, Input Shaping, . SPiiPlusDC EtherCAT
Drive Controller
• EtherCAT / MPU cycle <1 msec.
• If in addition a linear drive is used, then choose a SPiiPlusNT/DC-LD.
UDM LC

19
MC4U - Wide Line of Drives and Matching
Power Supplies

High Performance Universal PWM Drives for the Best Performance With any Type of Motor
The MC4U line of universal digital PWM drive modules is specifically designed to provide a high performance and cost effective solution
for demanding multi-axis applications. The drives are optimized for low noise, providing the lowest possible jitter and velocity smoothness
and are fully programmable for easy setup and diagnostics. Each drive can be programmed to control any type of single, two or three
phase DC brushless motors, AC induction motors, DC brush motors, voice coils, or step motors with open or closed loop control.
The MC4U drive modules support linear and rotary motors covering a wide power range of 100W to 10kW. Drive modules with up to 750W
per axis, include up to four drives, and modules with up to 5kW per axis include two drives for optimal performance, cost and footprint.
Modules with 30/60A (7.5kW) and 45/90A (10kW) include one drive. Drives are available with optional Safe Torque Off (STO) feature to
enable machine builders to comply with SIL-3 and PLe safety levels.

Number Bus Voltage Phase Current Output Power per Axis

PWM Drive Modules Part Number
of Axes [Vdc] Cont./Peak [Amps] Cont. /Peak [kW]
DDM3U-2/4-60V-4A 2 or 4 18-60 4/5 0.15 / 0.3

DDM3U-4-320V-1A 2 or 4 24-320 1/2 0.25 / 0.5

DDM3U-4-320V-2A 2 or 4 24-320 2/4 0.5 / 1

DDM3U-4-320V-3A 2 or 4 24-320 3/6 0.75 / 1.5

DDM3U-1/2-320V-5A 1 or 2 24-320 5 / 10 1.35 / 2.7

DDM3U-1/2-320V-10A 1 or 2 24-320 10 / 20 2.7 / 5.4

DDM3U-1/2-320V-15A 1 or 2 24-320 15 / 30 4.1 / 8.2

DDM3U-1/2-320V-20A 1 or 2 24-320 20 / 40 5.5 / 11

DDM3U-1-320V-30A 1 24-320 30 / 60 7 / 14

DDM3U-1-320V-45A 1 24-320 45 / 90 10 / 20

DDM3U-1/2-560V-5A 1 or 2 24-560 5 / 10 1.35/2.7

DDM3U-1/2-560V-10A 1 or 2 24-560 10 / 20 2.7/5.4

DDM3U-1/2-560V-15A 1 or 2 24-560 15 / 30 4.1/2.8

& Digitally Controlled Linear Drives for Minimal Standstill

Jitter & Maximum Velocity Smoothness
The line of PWM drives is specifically designed for applications with demanding standstill jitter and velocity smoothness
requirements. These drives provide currents up to 15A/30A (continuous/peak) at up to 320Vdc. It is the ultimate drive for 450mm and
300mm wafer handling stages, FPD and optical components processing, demanding high speed, high acceleration, smooth velocity and
sub-nanometer standstill jitter and constant velocity tracking errors. The LDM line of digitally-controlled linear drives is designed for
applications with demanding standstill jitter, smoothness requirements and low electrical noise. It provides currents up to 6.25A/25A
(continuous/peak) at up to 55Vdc. Combining the or LDM drives with the powerful algorithm guarantees the
lowest standstill jitter and following error at constant velocity and the best move and settle times.

Motor Supply (Vm) Motor Phase Current sine

LDM Linear Drives Part Number Maximum output power [W]
min./max. (Vdc) amplitude, cont./peak [A]
LDM3U-28V-8A-D 24-32 4/8 81/162

LDM3U-28V-16A-D 24-32 4/16 81/324

LDM3U-55V-8A-D 45-60 4/8 166/333

LDM3U-55V-16A-D 45-55 4/16 150/600

LDM3U-55V-16A-S 45-55 4/16 173/693

LDM3U-55V-25A-S 45-55 6.25/25 271/1083

20
 Number Bus Voltage Phase Current Cont./Peak Output Power Per Axis
Drives Model No
of Axes [Vdc] [Amps] Cont./Peak [kW]

DDM3U-1-100V-15A-NP 1 24 – 100 15/30 1.07/1.98

DDM3U-1-320V-15A-NP 1 24 – 320 15/30 4.1/8.2

* for other current ratings contact ACS.

A Line of Matching Power Supplies

A wide range of power supplies is available to match the motor drives with bus voltages ranging from 28Vdc to 560Vdc. An MC4U
configuration can include two supplies in a single enclosure to support two voltages or enhance power. The high voltage supplies include a
shunt regulator and a 100W regeneration resistor. If additional regeneration capability is needed, an external 600W shunt resistor is available.

Power Supply Modules Part Number Input Voltage [Vac] Output Voltage [Vdc] Nominal Power

PSM3U-28V-0.5kW 85-2651 28 500W

PSM3U-48V-0.7kW 85-2651 48 700W

PSM3U-48V-1.4kW 85-2651 48 1400W

PSM3U-320V-4kW 85-265 2
120-320 4kW

PSM3U-320V-8kW 85-2652 120-320 8kW

PSM3U-320V-10kW 85-2652 120-320 10kW

PSM3U-320V-11kW 85-2652 120-320 11kW

PSM3U-320V-20kW 85-265 2
120-320 20kW

PSM3U-320/48V-0.7/8kW 85-2652 48, 120-3204 8kW

PSM3U-560-7kW 360-4403 500-560 7kW

PSM3U-100V-3kW 30-705 44-100 3kW

1
Single phase; Single or three phase; Three phase; Features dual bus voltage outputs of 48Vdc and up to 320Vdc, To achieve the best jitter and smoothness when
2 3 4 5

powering a or LDM drive, it is recommended to feed this supply from an external, well regulated DC power source.

Wafer Inspection with Nanometer Performance Level

Hermes Microvision Inc. (HMI) develops the most advanced E-beam Inspection (EBI)
tools and solutions for leading semiconductor companies.
“HMI has been using ACS controller for more than 12 years. It is a reliable and high
performance controller. The MMI software is versatile and user friendly for both the
development and field engineering. Tech support is timely, responsive, and effective.
ACS has excellent knowledge of motion control engineering and is able and willing
to customize for special applications. It enables us to have the most advanced control
solution to meet our special needs.
The control algorithm demonstrated its superior function in improving
our demanding motion performance.”
Semiconductors
B.C., Mechanical Engineer, HMI

21
MP4U - Modular Control Solution for the Most
Demanding Applications With up to 100V Drives

MP4U: Highest Performance & Cost Effective

• Integrated 8 universal drives, power supplies and an optional • Flexible motor supply with AC input
Motion Controller & EtherCAT Master • 96Vdc/32A
• A wide range of high performance drives and • 48Vdc with 32A or 64A
economical drives • Both 96Vdc/32A and 48Vdc/32A
• NPM3U drives for sub nanometer jitter an • Short lead time for a fully custom-tailored application
following errors • Shorter development time, reduced risk, lower cost
• UDM3U – Economical drives
• ACS field proven robustness and reliability
• Current range of 3.3A / 10A (cont/peak) to 13.3A/40A
The MP4U is a unique modular complete solution that addresses the motion control needs of OEMs. This high performance,
Lego-like system combines high performance (NPM) drives as well as UDM economical drives, a 96V and/or 48V motor power
supply and an optional EtherCAT motion controller. The MP4U drives are EtherCAT slaves that may be managed by either an external motion
controller, such as the SPiiPlusEC, or by an internal one. The internal controller is functionally identical to the SPiiPlusEC., Optionally it may
include a powerful high speed EtherCAT_to_EtherCAT bridge that enables to connect the entire system as a node in an EtherCAT network
manged by any Automation controller supporting DS402 protocol.

Completely self-contained, 19" Rack-mounted Chassis

All connectors and interfaces are placed at the back.
Built-in fans draw air from the front and extract it from the back.

Enclosure dimensions
Enclosure 19”
Height 260 (6U)
Width [mm]
With no ears 440
With ears 483
Depth [mm]
Without handles 266
With handles 306 2 axis Drive Modules Controller
4-axis: 11.8 (Kg).
Net weight [Kg]
8-axis: 13.3(Kg).
Power Supply

MP4U back panel

22
A Complete System Tailored to Your Exact Needs
You may select:
• The controller and its set of features
• The drives: type, voltage, current and additional features
• The motor power supply

Component / Feature Options

Motion Controller Y - Yes, N - No

Maximum number of axes B - 4, C - 8, D - 16, E - 32, F - 64

ServoBoost, number of axes supported N - 0, A - 4, B - 8, C - 12, P - 60, Q - 64

Number of ACSPL+ buffers A - 10, B - 16, C - 32, D - 64

Maximum MPU cycle rate (kHz) 1 - 1kHz (64 axes), 2 - 2kHz (up to 32 axes), 4 - 4kHz (up to 16 axes), 5 - 5kHz (up to 8 axes)

NetworkBoost, Flexible configuration N - None, A - NetworkBoost, B - Flexible configuration, C - Both

Input shaping Y - Yes, N - No

EtherCAT Master-To-Master Bridge Y - Yes, N - No

G-Code Y - Yes, N - No

STO Y - Yes, N - No

A - 5V, Source/PNP
B - 5V, Sink/NPN
Limit switches
C - 24V, Source/PNP
D - 24V, Sink/NPN

A - 5V, Two-terminal
Digital Inputs
B - 24V, Two-terminal

A - Source/PNP, 5V & 24V

Digital Outputs
B - Sink/NPN, 5V & 24V

Motor Power Supply A - 48V, 32A, 48V, B - 64A, 96V, C - 32A, D - 96V&48V

Drive Module per slots 1 - 4 U - UDM, P - NPM

Number of drives 1, 2

Current A - 3.3/10A, B - 6.6/20A, C - 10/30A, D - 13.3/40A

Voltage connected to A - 48V, B - 96V

For UDM: 0, 1, 2
500kHz SIN-COS encoder interface
For NPM: 0, 1, 2, 3, 4

For UDM: 0
10MHz SIN-COS encoder interface
For NPM: 0, 1, 2, 3, 4

Absolute encoders type N - None, E - EnDat 2.2 & 2.1 digital only, S - Smart Abs, P - Panasonics, B - BiSS-A/B/C, I - SSI, A - Sanyo ABS

Number of Absolute encoders interface 0, 1, 2

Motor relays Y - Yes, N - No

23
A Wide Range of EtherCAT Universal Motor Drives
to Address Your Needs

A wide line of high performance universal drive modules are available. These drives are designed for industry-leading performance,
ranging from 10W up to 10kW, with motor DC bus voltages ranging from 12Vdc to 680Vdc.
The drives can be operated only with ACS EtherCAT controllers. The drives are optimized for low noise, providing the lowest possible
jitter and velocity smoothness, and are fully programmable for easy setup and diagnostics. Drives can be programmed to control
any type of motor (single, two or three phase, DC brushless, AC induction, DC brush, step), with open or closed loop control and dual
feedback control. Many types of feedback devices are supported, such as incremental optical and Laser encoders (both digital and
analog Sin-Cos), absolute encoders and resolvers. In addition, the modules provides general purpose and specific I/O functionality,
such as PEG (Position Event Generation), Position Registration Mark and motor brake controls.

Built In Motor Supply Logic supply Motor bus Current Cont./ Ana. Ana. Dimensions
Product Feedback
drives voltage (Vin) voltage voltage Peak Sine amp. [A] In Out [mm3]
2 or 4 Incremental Digital
UDM LC 2,4 12-48Vdc 12-48Vdc Vin Up to 5/10 - - 100x75x48
0, 1, 2 Absolute (optional), Hall*
Up to 4 Incremental Digital
UDM PC 1,2 5-48Vdc 24Vdc Vin Up to 10/20 4 2 0, 1, 2 Sin-Cos encoders (optional) 112x87x20
0, 1, 2 Absolute (optional), Hall*
1, 2 Incremental Digital
0, 1, 2 500 kHz Sin-Cos (optional)
UDM NT 1,2 12-80 Vdc 24Vdc Vin Up to 10/20 2 1 162x113x38
0, 1, 2 10 MHz Sin-Cos (optional)
0, 1, 2 Absolute (optional), Hall*
Up to 4 Incremental Digital
UDM MC 2,4 12-80 Vdc 24Vdc Vin Up to 20/40 - - 152x138x48
Up to 4 Absolute (optional), Hall*
1, 2 Incremental Digital
UDM CB 2 12-100 24Vdc Vin Up to 13.3/40 2 2 0, 1, 2 500 kHz Sin-Cos (optional) 155x85x30
0, 1, 2 Absolute (optional), Hall*
1, 2 Incremental Digital
UDM PA 2 12-100 24Vdc Vin Up to 13.3/40 2 2 0, 1, 2 500 kHz Sin-Cos (optional) 257x155x51
0, 1, 2 Absolute (optional), Hall*
230-480Vac Up to 15/30 Up to 4 Incremental Digital
0, 1, 2 Sin-Cos encoders (optional)
UDM HV 1,2 24Vdc Vin x 1.4 4 2 260x246x120
0, 1, 2 Absolute (optional)
230Vac Up to 20/60 0, 1 ,2 Resolvers, Hall*
Up to 4 Incremental Digital
Up
UDM HP/BA 2,3 85-230Vac 24Vdc Vin x 1.4 Up to 15/30 2 0, 1, 2, 3 Sin-Cos encoders (optional) 324x249x120
to 6
0, 1, 2, 3 Absolute (optional), Hall*
Up to 4 Incremental Digital
0, 1, 2 Sin-Cos encoders (optional)
UDM PM 1,2 85-230Vac 24Vdc Vin x 1.4 up to 7.5/15 4 2 270x157x67
0, 1, 2 Absolute (optional)
0, 1, 2 Resolvers, Hall*
1 per axis: Incremental Digital
Up to Up Up
MC4U DC 2 to 8 85-400Vac 24Vdc Up to 45/90 Sin-Cos encoders (optional) See page 16
560Vdc to 4 to 4
Absolute (optional), Hall*
SDM NT for 85-230Vac or
4, 8 24Vdc 40Vdc 3A - - - 290x130x90
step motors 40Vdc
* A set of 3 Hall inputs per axis

Total Available Total Available General General Purpose MARK PEG Outputs Emergency Motor Brake
STO Input Limits *
Inputs Outputs Purpose Inputs Outputs Inputs (+ state) Stop Input Outputs
UDM LC 13 5 - - 4 1 1 - 8 4
UDM PC 13 10 8 4 2 2 1 P - -
UDM NT 8 4 4 2 4 2 - - 4 -
UDM MC 14 5 - - 4 1 - P 8 4
UDM CB 8 4 4 2 4 2 - P 4 2
UDM PA 8 4 4 2 4 2 - P 4 2
UDM HV 15 12 8 8 2 2 1 P 4 2
UDM HP/BA 19 14 8 8 4 3 1 - 6 3 + 1 **
UDM PM 15 12 8 8 2 2 1 P 4 2
MC4U DC
(Max. configuration)
37 15 8 8 4 7 1 P 16 -

SDM NT 6 6 6 6 - - - - - -
UDI 17 5 4 - 4 1 1 - 8 4
PDM NT 16 8 8 8 - - - - 8 -
PDI CL 17 5 4 - 4 1 1 - 8 4
* According to number of axes, 2 per axis    ** Additional 1 output with 100mA    Special inputs/outputs can also be assigned for use as general purpose I/O.
• All ACS’ drives and interfaces work only with ACS’ motion controllers and EtherCAT masters. See specific product data sheet for full specifications.
24
UDMLC 4 drives, up to 48Vdc, 5A/10A
A line of compact EtherCAT drive modules with four and two universal drives of up to 200W. It addresses
the needs of applications that require many motors, such as inspection heads and table top motion
stages, where space is limited. The UDMLC is fed by a DC voltage of 12 to 48Vdc and is offered with
the following current levels: 1.25/2.5A, 2.5A/5A (cont./peak) and for the two-axis version also 5/10A.
It supports the following position feedback devices: incremental digital (total of 4) and absolute encoders
(a total of 2).

UDMSD 4 drives, up to 48Vdc, 2.5/5A

A line of compact EtherCAT drive modules with four and two universal drives of up to 100W. It provides
the functionality of the UDMlc, utilizing Sub-D type connectors. It is offered with the following current
levels: 1.25/2.5A, 2.5A/5A (cont./peak).

UDMPC 2 drives, up to 48Vdc, 10A/20A

A line of PCB mounted EtherCAT drive modules with two universal drives of up to 400W each. It addresses
the needs of applications that require high performance with demanding move & settle, smooth velocity
and stand still jitter.. It supports STO, is fed by a DC voltage of 12 to 48Vdc and is offered with the following
current levels: 2.5A/5A (cont./peak), 5/10A and 10/20A. It supports STO and the following position feedback
devices: incremental digital (total of 4) or analog Sin-Cos (total of 2) and absolute encoders (a total of 2).
The unit can be ordered assembled on the UDMPC 2 - 048-BOB carrier for prototyping purposes.

UDMNT 2 drives, up to 80Vdc, 10A/20A

A line of compact EtherCAT drive modules with one or two universal drives of up to 700W. The UDMNT is
fed by a DC voltage of 12 to 80Vdc and is offered with the following current levels: 2.5/5A (cont./peak),
5A/10A and 10/20A. It supports the following position feedback devices: incremental digital and analog
Sin-Cos (total of 2) and absolute encoders (a total of 2). The Sin-Cos interface supports also laser based
encoders with rates of up to 10MHz.

UDMMC 4 drives, up to 80Vdc, 20A/40A

A line of powerful EtherCAT drive modules with four and two universal drives of up to 1400W. The UDMMC
supports STO, is fed by a DC voltage of 12 to 80Vdc, and is offered with the following current levels:
5/10A (cont./peak), 10A/20A and 20/40A. The four-axis units are also offered with a mixed current levels
of 2 x 5A & 2 x 10A,2 x 5A & 2 x 20A and 2 x 10A & 2 x 20A. It supports the following position feedback
devices: incremental digital (total of 4) and absolute encoders (a total of 2).

UDMCB 2 drives, up to 100Vdc, 13.3/40A

A line of compact PCB mounted EtherCAT drive modules with one or two universal drives of up to 1.3kW.
The UDMCB is fed by a DC voltage of either 12 to 60Vdc or 12 to 100Vdc and is offered with the following
current levels: 3.3/10A, 6.6/20A, 10/30A and 13.3/40A. It supports the following position feedback devices:
incremental digital, analog Sin-Cos (total of 2) and absolute encoders (a total of 2).

UDMPA 2 drives, up to 100Vdc, 13.3/40A

The UDMPA is a panel mounted version of the UDMCB, utilizing high quality metal connectors.

25
UDMPM 2 drives, up to 320Vdc, 7.5/15A
A line of cost effective EtherCAT drive modules with one or two universal drives of up to 1.6kW. The UDMPM
is fed by a AC voltage of 85 to 230Vac and is offered with the following ratings: 2.5/5A, 5/10A and 7.5/15A.
It supports the following position feedback devices: incremental digital (4) and analog Sin-Cos (2) and
absolute encoders (2) and resolvers (2).

270 x 157 x 67 mm3

UDMHP/BA 3 drives, up to 320Vdc, 15A/30A

A line of EtherCAT modules with up to 3 universal drives. The UDMHP addresses high accuracy demanding
applications. The UDMBA is a more economical version. The modules are fed by a AC voltage of 85 to 230Vac
and offered with the following ratings: 5A/10A (cont./ peak), 10/20A and 15/30A. It supports the following
position feedback devices: incremental digital (total of 4), analog Sin-Cos (3), and absolute encoders (3).

324 x 249 x 120 mm3

UDMHV 2 drives, up to 675Vdc, 15/30A or 320Vdc, 20/60A

A line of powerful EtherCAT drive modules with one or two universal drives of up to 9kW. The UDMHV is
fed by a AC voltage of up to 480Vac and is offered with the following ratings: 230-480V and 5/10A, 10/20A,
15/30A, and a two-axis with 20/20A+5/10A. 230V and 5/15A, 10/30A, 15/45A and 20/60A. It supports the
following position feedback devices: incremental digital (4) and analog Sin-Cos (2) and absolute encoders (2)
and resolvers (2).

260 x 246 x 120 mm3

MC4UDC 8 drives, wide range of voltages and currents

A comprehensive line of EtherCAT modules with 2 to 8 drives each, with 100W to 10kW per drive. The MC4U is
a unique modular complete solution that addresses the tailor-made, flexible machine and motion control needs
of OEMs. Built from standard plug-in components, the MC4U addresses all machine control needs, resulting in
shorter development cycle time, reduced risk, small footprint and lower costs. See pages 18-19 for full details.

SDMNT Unipolar Stepper, 8 drives, up to 40Vdc, 3A

A line of EtherCAT modules with open loop step motor drives that are specifically designed to address the
needs for economical solutions for machines with many step motors operating as part of an EtherCAT network.
It is available in 4 and 8 axis versions, with or without built-in motor power supply. Each unit includes one
bipolar drive with up to 40Vdc, 3A. All other drives are unipolar with up to 40Vdc, 3A. The current level is
individually programmable for each drive and can be set to the following levels: 1A, 1.5A, 2A and 3A. The step
resolution is individually programmable for each drive and can be set to the following levels: full step, 1/2,
1/4, 1/8 and 1/16 step. The SDMNT includes two sets of Pulse/Dir inputs and two sets of Pulse/Dir outputs for
Master-Slave operation. There are 6 & 6 general purpose inputs and outputs. Modules with 40Vdc, 240W 290 X 130 X 90 mm3
built-in motor supply are fed by 110Vac to 230Vac. The 40Vdc is also available as an output to power additional
units. Modules without built-in motor supply are fed by a 12Vdc to 40Vdc input.

NPMPM, NPAPM NPMPC, NPAPC NPARM

A comprehensive line of EtherCAT
drive modules as well as drives with ±10V
commutation command interface for the
highest accuracy and resolution.
For more details see brochure.

26
 Interfaces
Servo Drives, Step Motor Drives, Laser Micro-machining

UDIHP/LT - Commanding Closed Loop Motor Drives with ±10V Interface

The UDI (UDI - Universal Drive Interface) is a compact EtherCAT module that controls up to 4 motor
drivers with ±10V analog interface. It supports both torque commands (single ±10V differential signal
per axis) and sinusoidal commutation current commands (two ±10V differential signals per axis). It
includes 4 incremental encoder and 2 absolute encoder interfaces, safety limit inputs, 4 registration
inputs, 4 24Vdc/0.2A brake control outputs and one PEG (Position Event Generator) output. The servo 121 X 100 X 48 mm3
update and sampling rate is always 20kHz.
The UDI is available in two versions:
• UDIHP - high performance version
• UDILT - economical version
The UDlLT utilizes a 10 bit DAC to generate the ±10V commands and supports digital encoders only
(both incremental and absolute). The UDlHP utilizes a 16 bit DAC to generate the ±10V commands
and it also supports fast analog Sin-Cos encoders with raw frequencies up to 5MHz. This enables
running stages using high resolution laser encoders with sub-nanometer resolution at more than
1 meter/second.

PDICL - Commanding Motor Drives with Pulse/Direction and feedback Interface

The PDICL (Pulse-direction Drive Interface) provides the ability to connect step motor drives and servo
motor drives with Pulse-Direction interface to EtherCAT networks that are controlled by ACS’ motion
controller and EtherCAT master.
The PDICL includes incremental and absolute digital encoder interfaces for position verification and
closed loop control. It can be used also as a general purpose EtherCAT incremental and absolute 121 X 100 X 48 mm3
encoder interface.

PDMNT - Commanding Motor Drives with Pulse/Direction Interface

The PDMNT controls up to four open loop step motor and servo motor drives with Pulse/Dir interface.
It includes also safety limit inputs and 8/8 general purpose I/O points.
The maximum pulse rate is 4MHz. The module can also be used by a SPiiPlus EtherCAT controller
to control laser generators with a dynamically programmable pulse rates.

264 X 75 X 25 mm3

LCMV2 - High Precision Laser Micro-machining

The LCMV2 Laser Control Module adds the ability to operate a laser and to synchronize it with motion
for high precision Micro-machining.
It supports the popular modes of digital control of laser power and provides one comprehensive and
flexible mechanism of laser control, fully synchronized with the motion.
The unit provides additional functionalities, such as P/D to AqB conversion that enables generating
an encoder output that represents a virtual axis. This makes the product useful also for non-laser
related applications. 264 X 75 X 25 mm3

UDI, PDM NT, PDI CL & LCM V2 interfaces operate only with ACS EtherCAT master controllers.

27
EtherCAT® I/O Modules

IOMNT - Compact and Powerful EtherCAT Digital I/O Modules

The IOMNT line of EtherCAT digital I/O modules offers an economical and compact design with up to
32 inputs and 32 outputs (24Vdc/0.5A each) with minimal power dissipation. There are four 20-pin
connectors, one per 16 I/O channels. It enables secure connection of plug connectors using insulation
displacement contact, such as ribbon cables, thus significantly simplifying the wiring of many I/Os.
64 LEDs display the logical states of the inputs and outputs.
The SPiiPlus IOMNT line includes the following modules:
101 X 65.5 X 59 mm3

Product Description

IOMNT-8-8 8 inputs and 8 outputs

IOMNT-16-16 16 inputs and 16 outputs

IOMNT-32-16 32 inputs and 16 outputs

IOMNT-32-32 32 inputs and 32 outputs

IOMPS
The IOMPS is a line of EtherCAT digital and analog I/O modules which offer an economical and
compact design, with up to 32 inputs and 32 outputs and minimal power dissipation.
The IOMPS enables secure connection of plug connectors using insulation displacement contact
thus significantly simplifying the wiring of many I/Os. 32 Digital In/out
• Powerful Digital and Analog I/O Modules For EtherCAT Network 100x97x55 mm3
• Up to 32 Inputs and 32 Outputs
• Compact and cost effective
• Easy to use

Product Description

IOMPS - ED3232NO 32 digital inputs and 32 digital outputs 16 Digital In/out

100x97x43.4 mm3
IOMPS - ED1616N0 16 digital inputs and 16 digital outputs

IOMPS - EA0400V0 4 analog inputs

IOMPS - EA0004V0 4 analog outputs

Analog Input
100x97x40.1 mm3

Analog Output
100x97x40.1 mm3

28
 Accessories

Filters for Improved Motor Performance

For applications with demanding standstill jitter requirements or applications utilizing sensors
that are sensitive to the electromagnetic noise, the MC4U-MF-CD three-phase motor filter
reduces the noise induced by the PWM drive’s high current switching.

140 x 127 x 52 mm3

Regeneration Shunt Resistor

If the power supply built-in regeneration resistor is not enough, the external MC4U-REGEN 600W
shunt resistor can be used to absorb higher energy ratings.

114 x 221 x 113 mm3

EM64 - Sin-Cos Encoder Multiplier and splitter for sub-count PEG and MARK
To generate Position Events and MARK capture position when using analog Sin-Cos encoders,
with resolutions below one quarter encoder cycle. Programmable multiplication of up to 64
counts per encoder cycle. Two output connectors, each comprises of both the original analog
encoder signals (buffered) and the RS422 digital post multiplication signals. 30x45x90 mm3

Helping PING Revolutionizing the Golf

Equipment Industry
PING has revolutionized the golf equipment industry by utilizing modern
computer and automation technology to achieve the highest levels of precision,
performance, and quality in the design and manufacturing of their products.
The latest generation club testing systems at PING were designed with ACS
Motion Control solutions. The PING Man and PING Man Tee systems utilize the
MC4U integrated control and drive solution, while the Shaft Fatigue test system
uses SPiiPlusNTM motion and EtherCAT Controller and UDM drives.
”ACS Motion Control was an instrumental partner in our upgrade of the PING Man
and PING Man Tee systems The accuracy which we’re able to hold during testing
has increased dramatically. The SPiiPlus MMI Application Studio is intuitive,
logical, and was a snap to learn. The Scope and Watch tools, just to name
a few, were vital during system installation. ACS’ highly knowledgeable and
friendly Application Engineers helped us to quickly overcome issues during the
development process.
The modularity of the products has enabled us to consolidate dis-similar test
systems (PING Man and Shaft Fatigue) under one motion control platform.
Two entirely different applications, one development tool (SPiiPlus MMI
Application Studio), one language (ACSPL+), one very happy engineering team.”
C.P. Test Engineer, PING Motion Centric

29
Customers Testimonials

Control Solutions for FPD and AOI

Orbotech is a leading provider for PCB AOI and FPD inspection
systems. Orbotech uses a variety of Control Modules, such as
the MC4U, a wide line of Universal Drive Modules (UDM) and
I/O modules.

“Orbotech has been using ACS Motion Control solutions for over
20 years. ACS is always listening to our needs and is providing
first rate support. ACS’ wide line of controllers, EtherCAT universal
drives and I/O modules enable us to implement complex inspection
systems, with 30 and more axes and hundreds of I/O points in the
most efficient way.
The unique level of performance achieved with ACS solutions
contributes to increased throughput and inspection quality.”

D.K. Control Engineer, Orbotech

FPD

Better Control for Unique Assembly Systems

IXMATION NORTH AMERICA designs and builds unique assembly
systems for customers in the Medical, Electronics, Consumer goods,
and Automotive industries. IXMATION uses a variety of ACS’ SPiiPlus
controllers.

“In multi-axis motion controllers, the top three characteristics we look

for are technical support, performance and features.
ACS offers superior quality and service in all these categories. It is
typical to get a direct connection with an ACS application engineer
who is extremely knowledgeable, not only with ACS products, but with
general motion and closed-loop control to help solve technical issues
in a timely manner. ACS’s ability to remotely connect and take control
of our PC to help examine mechanical performance or tuning has been
extremely valuable in keeping our projects moving forward.
The unique SPiiPlus simulator allows our engineers to develop and
test motion routines with surprising simulated performance before
the equipment is actually built. As users of Allen-Bradley PLCs,
the Ethernet/IP connectivity is a must for our applications.
The ACS’ implementation of the Ethernet/IP is easy to setup and
use and provides flexible Read/Write access to low-level controller
parameters as well as to user defined variables.”

J.S.Senior Controls Engineer / Group Leader, IXMATION North America

Motion Centric

30
 Copyright © ACS Motion Control. All rights reserved. Ver. 3.9, 12-2016
International Headquarters
ACS Motion Control Ltd.
Ramat Gabriel Industrial Park
1 Hataasia St.
Migdal HaEmek, 2307037
POB 984. Israel.
Phone: +972-4-6546440
Fax: +972-4-6546443
[email protected]
[email protected]

North American Office ACS Motion Control Korea ACS Motion Control China
ACS Motion Control Inc. Digital Empire Building II, 101-1404 Room 301, No.798, Zhaojiabang Rd,
7444 West 78th Street 88 Sinwon Rd., Yeongtong-gu, Suwon-si Shanghai, 200030, China
Bloomington, MN 55439, USA Gyeonggi-do, South Korea, 443-734 Phone: +86-21-54830819
Phone: +763-559-7669 Tel: +82-70-7167-8608 Fax: +86-21-64453191
Fax: +763-559-0110 Fax: +82-70-7016-2628 Cell: +86-13601639842
[email protected]

www.acsmotioncontrol.com