ECAT-2094S 4-Axis Stepper Motor Controller/Driver


Key Features

  •  Supports 4 stepper motor (2-phase bipolar)
  • Stepper motor are controlled in an open loop operation
  • Programmable coil current level: up to 1.5 A/phase
  • Programmable microstep size: maximum 256 microsteps per full step
  • Supported motor voltage range: 6 to 46VDC
  • 4 x Encoder interfaces (A, B, Z), differential
  • 8 x Digital input. Two DI channels for each axis: reference switch input, latch input
  • 2 x Digital output
  • Automatic current reduction to reduce heat when motor is not moving
  • Drive protection:
    ‣ Over-temperature
    ‣ Under voltage
    ‣ Short circuit
  • Optically isolated I/O
  • LED indicators for I/O, EtherCAT and motion status
  • Internal memory for storing configuration data
  • EtherCAT:
    ‣ 2 x RJ-45 bus interface
    ‣ Distance between stations up to 100 m (100BASE-TX)
    ‣ Support daisy chain connection
    ‣ EtherCAT conformance test tool verified
    ‣ Supports Free-Run, SM-Synchron and Distributed Clock (DC) operation modes

     ‣ Supports CoE and FoE
  • Removable terminal block connector
  • Two 16-position rotary switch for station alias addressing


The ICP DAS ECAT-2000 is equipped with the EtherCAT protocol and installed by daisy chain connection which permits the flexibility in devices installation and reduces infrastructure and operation costs. All the modules can be deployed in the network topologies such as star, line or ring.

The ICP DAS ECAT-2094S stepper motor controller is a cost-effective, two-phase bipolar stepper driver. The ECAT-2094S simultaneously controls up to four stepper motors. A motor voltage range between 6 and 46V DC and a maximum motor coil current of 1.5A/phaseis being supported. The running motor current, microstep resolution and other motion parameters are software selectable.

Two-phase bipolar stepper motors can be directly connected to the ICP DAS ECAT-2094S device. The device is designed to operate in a open loop. Configuration and motion control has to be done by the EtherCAT master and the application program. The torque and step control is done by an internal stepper motor driver IC. Each stepper motor is being independently controlled by a separated driver IC. The four driver ICs are not synchronized and work independently from each other. An integrated ramp generator automatically calculates the acceleration and deceleration distance. The motion controller drives the motor to the target position or accelerates the motor to the target velocity. All motion parameters can be changed on the fly. A minimum set of configuration data consists of acceleration, deceleration and maximum motion velocity.

After receiving the target position the motor driver starts controlling the motion movement. The ICP DAS ECAT-2094s has four integrated incremental encoder interfaces. Four 32 bit high frequency encoder counter counts the input signal of external incremental encoders. The encoder can for example be used for homing purposes and for consistency checks. High resolution of up to 256 microsteps per full step is supported for a ensuring smooth and precise motor operation.