ET-M8196F Ethernet Remote Unit with High-speed 6-axis Motion Control Module


Key Features

  • Remote control via Modbus TCP
  • DSP-based motion control module
  • Pulse output rate: 4 MHz (Max.)
  • Maximum encoder input frequency: 12 MHz
  • Independent 6-axis motion control
  • 2 to 6 axes linear / 2 to 3 axes circular / 3 axes helical interpolation functions
  • Continuous interpolation
  • 4-step home mode with auto-searching
  • Synchronized start motion
  • Programmable T/S-curve acceleration and deceleration
  • Software limit protection
  • Software FIFO for arbitrary curve motion
  • High-speed position latch
  • High-speed compare trigger and auto-increment compare mode
  • Expandable remote I/O: 128 DI and 128 DO via a two-wire FRnet interface


The ICP DAS ET-M8196F is a compact remote motion control device which uses Modbus TCP as its communication protocol. The ET-M8196F acts as a server in a Modbus TCP network and supports all standard Modbus function codes defined by the Modbus TCP protocol. Nowadays many PCs have got limited PCI slots; therefore the ET-M8196F can be used to replace PCI motion control cards.

The ET-M8196F has got two Ethernet ports which allow daisy chaining. The motion controller of the ET-M8196F consists of an Ethernet communication module and a 6-axis motion control card. A digital signal processor (DSP) is the brain of the motion controller which calculates the commanded move trajectory and manages supervisory control by monitoring the limits and emergency stops to ensure safe operation.

I/O control output (e.g. latch, compare, encoder counter etc.) is realized in a Field Programmable Gate Array (FPGA). The motion controller is suitable for general-purpose motion control applications. In additions to its wide speed range, this intelligent motion controller also has a variety of built-in motion control functions, such as 2 to 6 axes linear interpolation, 2 to 3 axes circular interpolation, 3 axes helical interpolation, T/S-curve acceleration/deceleration, and automatic home search, etc.

In addition, the ET-M8196F acts as an FRnet master and can control up to 128 digital outputs and 128 digital inputs. FRnet is a two-wire serial bus and has a scan interval of 0.72 ms and it is specifically designed for easy and cost effective wiring. ICP DAS provides a large range of FRnet I/O terminal boards and modules. An application programming interface (API) for communicating with the ET-M8196F motion controller is being provided. This enables the user’s program on the host computer to easily interact with the motion controller. A software utility for Ethernet configuration and basic motion settings and execution is part of the software package.


  • X-Y-Z Table
  • Fix-Pitch Stamping Machine
  • Transfer Machine
  • Spinner
  • Loader/Unloader