# ECAT-4XMO/ECAT-TRG4

# 4-Channel Motion Control and High Speed Trigger EtherCAT Bridge Module

# Features

4 table trigger—10 Mhz max w/ FIFO 255 points
● 4 linear trigger—10 Mhz max.
● 4 channel latch response—3 MHz max. w/ 255 points
Hardware emergency stop interface
● Supports gantry function up to 32 sets with MainDevice
Power-off memory for axis parameter
● Supports encoder re-driver function
Supports advanced point table

![Exterior view of a modular electronic device with multiple connectors and modules (no visible text or symbols)](.ecat-4xmo-trg4-datasheet-20230609/6673e38d1a5d6555bc4ed8d2711102c7dec192039f2e0e6987418cb6e75347f9.jpg)

ECAT-4XMO

![Exterior view of a modular electronic device with multiple ports and connectors (no visible text or symbols)](.ecat-4xmo-trg4-datasheet-20230609/f6b2e7b261d7c3cbe8ac21e2dcb1161dd097cb87c8cc80e4b53f80846052808e.jpg)

ECAT-TRG4

# Introduction

The ECAT-4XMO and ECAT-TRG4 are EtherCAT SubDevice modules with high-speed position comparison trigger and encoder single re-driver function, helping machine and equipment builders to use multiple triggers simultaneously for AOI, glue dispensing, display tests, and storage assembly applications.

Additionally, the ECAT-4XMO has 4-axis motion control with bridge function between EtherCAT and non-EtherCAT. Advanced motion control functions help machine and equipment builders to increase their motor selection portfolio, like leaner, step, servo, direct drive, and AC motors, making it ideal for a variety of automation industry applications.

# Ordering Information

● ECAT-4XMO
4-channel motion control and high-speed trigger module for the bridge connected to EtherCAT
● ECAT-TRG4
4-channel high speed position comparison and trigger module

Specifications

<table><tr><td>Model Name</td><td>ECAT-4XMO</td><td>ECAT-TRG4</td></tr><tr><td colspan="3">EtherCAT Communication</td></tr><tr><td>Communication Cycle Time</td><td colspan="2">250 / 500 / 1000 / 2000 microsecond</td></tr><tr><td>Number of Controllable Axes</td><td colspan="2">4</td></tr><tr><td>Support Motion modes</td><td colspan="2">Single axis move, multi axes move trigger &amp; stop, jog move, advanced single move &amp; interpolation, advanced point table, gear/gantry function, manual pulse generator function, (please refer to ADLINK&#x27;s APS function library)</td></tr><tr><td colspan="3">I/O</td></tr><tr><td>Motion I/O</td><td>PEL, MEL, ORG, LTC (per axis)</td><td>-</td></tr><tr><td>Servo I/O</td><td>SVON, RDY, RST, ALM, INP, ERC (per axis)</td><td>-</td></tr><tr><td>Pulse Output</td><td>OUT/DIR, up to 12 MHz pin (OUT/DIR)CW/CCW, up to 12 MHz</td><td>-</td></tr><tr><td>Encoder Input</td><td colspan="2">CW/CCW up to 8 MHzOUT/DIR up to 8 MHz1/2/4xAB up to 20 MHz</td></tr><tr><td>Encoder Re-driver</td><td colspan="2">Encoder input OUT/DIR signal sharing to output pin, up to 10 MHz</td></tr><tr><td>Trigger Output</td><td colspan="2">4 linear trigger max. 10 Mhz4 table trigger max. 10Mhz w/ FIFO 255 pointsTable size = 8192 points/axis</td></tr><tr><td>Latch input</td><td colspan="2">Source type, DI/PWM4-channel latch response max. 3 Mhz with 255 points (multiple and single point size = 5256 points)</td></tr><tr><td>GPIO</td><td colspan="2">4DI, 4DO(4DO and RST are common pin, selected by DIP switch)</td></tr><tr><td>EMG</td><td colspan="2">Per Module</td></tr><tr><td>DIP Switch</td><td colspan="2">6 bits for ID setting4 bits for EA1+/-, EB1+/- open/short selection between CN6 and D-SUB 26P2 bits for DO connect to alarm reset pin of D-SUB 26P (ECAT-4XMO only)</td></tr><tr><td colspan="3">General Specifications</td></tr><tr><td>Power Consumption</td><td colspan="2">Max = 5W, (power supply input 24V DC±10%)</td></tr><tr><td>Protection</td><td colspan="2">Over current, short, reverse, 1A</td></tr><tr><td>Operating temperature</td><td colspan="2">0 to 50°C</td></tr><tr><td>Non-operating temperature</td><td colspan="2">-40 to 70°CRelative humidity: 10 to 90%, non-condensing</td></tr><tr><td>Dimension</td><td colspan="2">165.3 x 74.9 x 52.7 mm (W x D x H)</td></tr><tr><td colspan="3">Certificate</td></tr><tr><td>EMC</td><td colspan="2">FCC Part 15b, and EN55032 (CISPR 32) for Class B</td></tr><tr><td>Safety</td><td colspan="2">IEC62368; IEC61010</td></tr></table>
[🔗 Link to the original document](.ecat-4xmo-trg4-datasheet-20230609/ecat-4xmo-trg4-datasheet-20230609.pdf)