EtherCAT 4-axis stepper motor control module ECAT-2094DS

29 May 2023 Product News

ICP DAS has introduced a new EtherCAT stepper motor control module ECAT-2094DS.

The ECAT-2094DS module supports the CiA402 protocol and can control 4 stepper motors simultaneously. The module has 12 discrete inputs of wet contact type.

The ECAT-2094DS supports the motor voltage range from 9 to 29 VDC, the maximum motor winding current is 3.3 A. The maximum operating current of the coil, the number of microsteps per step, and other motion parameters are program-selectable.

ECAT-2094DS is a standard EtherCAT Slave device that requires an EtherCAT Master one to operate.


Two-phase bipolar stepper motors can be directly connected to the ECAT-2094DS. The device is designed to operate a stepper motor in an open loop. The configuration must be done by the EtherCAT master and the application program.

Each stepper motor is controlled independently by a separate microcircuit. The four IC drivers are not synchronized and operate independently of each other. IC driver - is a board that converts AC to DC, and also contains a microcircuit that stabilizes the incoming voltage and current

The IC board automatically controls the torque and position of the motor. The built-in ramp generator automatically calculates acceleration and deceleration. All motion parameters can be changed in real time.

The ECAT-2094DS has four built-in incremental encoder interfaces. Four 32-bit high frequency encoder counters count the input signal of the external incremental encoders. For example, an encoder can be used for homing and consistency checking.

High resolution is supported up to 256 microsteps per full step for smooth and precise motor operation.

Three power supplies are required to power the device. Two motor power supplies and a 24V DC power supply. Two motors share the same power supply.

Key features of the ECAT-2094DS module:

  • Support for CiA402 protocol
  • Support for 4 stepper motors (two-phase bipolar)
  • Stepper motors are controlled in open loop mode
  • Programmable coil current level: up to 3.3 A/phase
  • Programmable microstep size: maximum 256 microsteps per full step
  • Automatic current reduction to reduce heat generation when the motor is stopped
  • Distance between modules up to 100 m (100BASE-TX)
  • Support for serial connection of modules

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