SPiiPlusEC

Installation Guide
December 2020
Document Revision: 3.03
 SPiiPlusEC Installation Guide

SPiiPlusEC

Release Date: December 2020

COPYRIGHT

© ACS Motion Control Ltd., 2020. All rights reserved.

Changes are periodically made to the information in this document. Changes are published as release notes and later
incorporated into revisions of this document.

No part of this document may be reproduced in any form without prior written permission from ACS Motion Control.

TRADEMARKS

ACS Motion Control, SPiiPlus, PEG, MARK, ServoBoost, NetworkBoost and NanoPWN are trademarks of ACS Motion Control Ltd.

EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Any other companies and product names mentioned herein may be the trademarks of their respective owners.

[Link]

support@[Link]

sales@[Link]

NOTICE

The information in this document is deemed to be correct at the time of publishing. ACS Motion Control reserves the right to
change specifications without notice. ACS Motion Control is not responsible for incidental, consequential, or special damages of
any kind in connection with using this document.

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Revision History
Date Revision Description

December
3.03 Formatting, EtherCAT Cycle Rate Table
2020

December
8.20 Corrected Serial Port Text
2019

April 2019 8.10 Formatting Corrections

January
8.00 Updated ordering options
2018

January Added reference to COM2 for running the MMI Application

7.00
2018 Studio Upgrade and Recovery Wizard Recovery Task

Updated Ordering Options field 9 with flexible

configuration and field 11 with Board level version
Changed Amber speed LED indication to 1000Mit
Changed the Green speed LED indication to 100Mbit
July 2017 6.00
Added picture of label
Updated connector descriptions
Reformatted document
Changed revision numbering scheme

August
05 Updated related documents
2016

July 2016 04 Removed PLC option

Updated product P/N

February
03 Corrected Din rail mounting kit P/N
2016
Added mounting screw recommended torque

Nov 2014 02 Din rail mounting kit added to Package content

Oct 2014 01 First Release

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Conventions Used in this Guide

Text Formats

Format Description

Bold Names of GUI objects or commands

BOLD + UPPERCASE ACSPL+ variables and commands

Monospace + grey
Code example
background

Italic Names of other documents

Blue Hyperlink

[] In commands indicates optional item(s)

| In commands indicates either/or items

Flagged Text

Note - includes additional information or programming tips.

Caution - describes a condition that may result in damage to equipment.

Warning - describes a condition that may result in serious bodily injury or death.

Model - highlights a specification, procedure, condition, or statement that

depends on the product model

Advanced - indicates a topic for advanced users.

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Related Documents
Documents listed in the following table provide additional information related to this document.
Authorized users can download the latest versions of the documents from
[Link]/downloads.

Document Description

SPiiPlus ACSPL+ Provides practical instruction on how to use ACSPL+ to program

Programmer's Guide your motion controller.

SPiiPlus Command &

Describes all of the variables and commands available in the ACSPL+
Variable Reference
programming language.
Guide

SPiiPlus MMI
Explains how to use the SPiiPlus MMI Application Studio and
Application Studio
associated monitoring tools.
User Guide

EtherCAT Network An application note describing how to perform diagnostics of the

Diagnostics EtherCAT network.

Provides guidance on how to configure and adjust the SPiiPlus

SPiiPlus Setup Guide systems to work with supported types of motors and feedback
devices.

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Table of Contents
1. Scope of document 9
1.1 Product overview 9
1.2 Communication channels 9
2. Description 11
2.1 Connectors 11
2.2 Indicators 12
2.3 Package Content 13
2.4 Order Part Number 13
3. Mounting 15
3.1 Location Planning 15
3.2 Mounting Procedure 15
4. Connections 17
4.1 Safety, EMC and Wiring Guidelines 17
4.1.1 General Safety Guidelines 18
4.2 Connecting the SPiiPlusEC 18
4.3 Powering the Unit 18
4.4 Recovering a non-functioning controller 18
4.5 J1, J2 EtherCAT 19
4.5.1 J1 EtherCAT Primary (A) 19
4.5.2 J2 EtherCAT Secondary (B) 19
4.6 J3 Ethernet 20
4.6.1 Connector Description 20
4.7 J4, J5 COM1, COM2 21
4.7.1 Connector Description 21
4.8 J6 Control Supply 22
4.8.1 Connector Description 22
5. Specifications 23
5.1 Communication 23
5.1.1 Control Supply Input 23
5.1.2 EtherCAT Ports (Primary and Secondary) 23
5.1.3 Ethernet 23
5.1.4 RS232 Serial Communication 24

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5.2 Performance 24
5.3 EtherCAT Cycle Rate 25
5.4 Dimensions 26
5.5 Weight 26
5.6 Compliance with Standards 26
5.6.1 Environmental 26
5.6.2 RoHS 26

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List Of Figures
Figure 2-1. SPiiPlusEC Interface 9
Figure 2-2. Connectors on Front and Top Panel 11
Figure 2-3. Indicators on Front and Top Panel 12
Figure 2-4. Label with ordered P/N - example 13
Figure 2-5. SPiiPlusEC Dimensions and Mounting Preparation Diagram 15
Figure 2-6. SPiiPlusEC Vertical Mounting Diagram 16
Figure 2-7. J6 Connections 22

List of Tables
Table 2-1. SPiiPlusEC Connectors 11
Table 2-2. SPiiPlusEC Indicators 12
Table 2-3. Conficguration as indicated by P/N 13
Table 2-4. Wiring Guidelines 18
Table 2-5. SPiiPlusEC J1 EtherCAT Primary (A) Pinout 19
Table 2-6. SPiiPlusEC J2 EtherCAT Secondary (B) Pinout 19
Table 2-7. SPiiPlusEC J3 Ethernet Pinout 20
Table 2-8. SPiiPlusEC J4, J5 COM1, COM2 Pinout 21
Table 2-9. SPiiPlusEC J6 Control Supply Pinout 22
Table 2-10. SPiiPlusEC Control Supply Input 23
Table 2-11. SPiiPlusEC EtherCAT Ports (Primary and Secondary) 23
Table 2-12. SPiiPlusEC Ethernet 23
Table 2-13. SPiiPlusEC RS232 Serial Communication 24
Table 2-14. SPiiPlusEC processing rate 24
Table 2-15. CTIME Values for SPiiPlusEC (Rev. B and later) Controller 25

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1. Scope of document

1. Scope of document
This document describes the installation information for the SPiiPlusEC (SPiiPlus External Controller),
including electrical interfacing, device compatibility, mounting, and ventilation.
SPiiPlusEC is supported by ACS Motion Control's firmware SPiiPlusNT-SC Ver. 2.27 and higher.

1.1 Product overview

The SPiiPlusEC is the next generation of the existing SPiiPlusNTM. It is equipped with a powerful
MPU (Intel® Atom™ N2600 1.6 GHz) and provides enhanced processing power. The unit consists of a
plastic enclosure and you can mount it using a panel or a din-rail.
The SPiiPlusEC main features includes:
> Processing power for 8 axes at 5kHz.
> Two EtherCAT ports to support network failure detection and recovery ( ).
> One Ethernet host communication, up to 1GbE.
> Two RS232 serial communication ports.
> Panel and Din-rail mounting options.
> LEDs indicators.
Figure 2-1 is a block diagram for the SPiiPlusEC.

Figure 2-1. SPiiPlusEC Interface

1.2 Communication channels

The SPiiPlusEC supports the following Ethernet communication ports:
> connection to host computer using TCP/IP protocol.

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1. Scope of document

> connection to real-time network components using EtherCAT protocol.

Optionally, you can use RS232 serial communication port for communications with the
host.

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2. Description

2. Description
This section provides an overview of the SPiiPlusEC (SPiiPlus External Controller), the available
product options and associated kits and accessories.

2.1 Connectors
Figure 2-2 and Table 2-1 show the location and description of the SPiiPlusEC connectors.

Figure 2-2. Connectors on Front and Top Panel

Table 2-1. SPiiPlusEC Connectors

Connector Name Type Mating Connector

J1 EtherCAT primary (A) RJ45 Ethernet plug

J2 EtherCAT secondary (B) RJ45 Ethernet plug

J3 Ethernet RJ45 Ethernet plug

J4 RS232 port COM1 D-type 9 pin male D-type 9 pin female

J5 RS232 port COM2 *see note D-type 9 pin male D-type 9 pin female

Phoenix Phoenix
J6 Control supply MC 1,5/ 3-GF-3,81 MC 1,5/ 3-STF-3,81
1827871 1827716

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2. Description

*When necessary, use RS232 communications over port COM2 to run the MMI
Application Studio Upgrade and Recovery Wizard Recovery Task (see the MMI
Application Studio User Guide for details).

2.2 Indicators
Figure 2-3 and Table 2-2 show the location and description of the SPiiPlusEC indicators.

Figure 2-3. Indicators on Front and Top Panel

Table 2-2. SPiiPlusEC Indicators

LED Description

Green LED:
Control supply > Off – Logic supply doesn’t function.
> On – Power supply is OK.

3 green LEDs (one per Ethernet/EtherCAT port):

> Off – No cable is connected.
Link Act
> Blinking – Link and activity
> On – Link without activity

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2. Description

LED Description

Three dual color LEDs (one per Ethernet/EtherCAT port):

Speed > Amber – 1000Mbit
> Green – 100Mbit

2.3 Package Content

The SPiiPlusEC package contains the following items:
> SPiiPlusEC Module
> Software disc with SPiiPlus ADK Suite, latest available version
> Din rail mounting kit: Part Number DINM-13-ACC

2.4 Order Part Number

The ordering part number (P/N) contains several characters (see example in Figure 2-4) that each
specify a configuration characteristic ordered for the SPiiPlusEC.

Figure 2-4. Label with ordered P/N - example

Table 2-3. Conficguration as indicated by P/N

Example
Available Ordering Option
SPiiPlusEC Ordering Options Field User
Values
Selection

Maximum number of axes 1 16 2,4,8,16,32,64

Up to the maximum
ECAT 3rd party Servo Drive 2 04
number of axes

ECAT 3rd party Step motor Drive (open Up to the maximum

3 00
& closed loop) number of axes

ECAT 3rd party IO EtherCAT node 4 32 32,64

G-Code 5 N None (N), G-code

0(N), 4(A), 8(B), 12(C),…60

, number of axes supported 6 A
(P), 64(Q)

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2. Description

Example
Available Ordering Option
SPiiPlusEC Ordering Options Field User
Values
Selection

Input shaping 7 N Yes (Y), No (N)

Default (D), 4kHz (4), 5kHz

Maximum MPU cycle rate (kHz) 8 4
(5)

(ring topology, cable None (N), NetworkBoost

failure detection and recovery) - 9 A (A), B - Flexible
Flexible configuration configuration, C - Both

Default* (D), 16(A), 32(B),

Number of ACSPL+ buffers/tasks 10 D
64(C)

Board level version** 11 N Y - Yes, N - No

None(N), 1,2,...9,10(A),11
XL Scan (unit per scanner) 12 N (B),12(C),13(D),14(E),15(F),16
(G)

An example Part Number of SP+EC16040004NAN4ADNN, would be set for the configuration

described in the following table:

Field 1 2 3 4 5 6 7 8 9 10 11 12

PN SP+EC 16 00 00 32 N A N 4 A D N N

* Default number of ACSPL+ buffers/tasks is a function of the number of axis specified (field 1).
Up to 8 axes - 10 buffers, 16 axes - 16 buffers, 32 axes - 32 buffers, 64 axes - 64 buffers
** Consult ACS with regards to availability and assembly instructions.

The SPiiPlusEC is shipped with the configuration set as ordered. Modifications can be
done by ACS only.

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3. Mounting

3. Mounting
3.1 Location Planning
When planning the mounting location of the SPiiPlusEC, take into account the following:
> unit dimensions (158 x 45 x 124 mm (6.22 x 1.771 x 4.881 in) - see " SPiiPlusEC Dimensions and
Mounting Preparation Diagram" below.
> sufficient clearance of 25 millimeters on all open sides for cable routing and free air flow.
> the SPiiPlusEC operates in a temperature range of 0-50⁰C.
> a 10 CFM velocity-controlled fan in the unit starts operating when the ambient
temperature exceeds 28⁰C.

Figure 2-5. SPiiPlusEC Dimensions and Mounting Preparation Diagram

3.2 Mounting Procedure

> Use two M3 screws as shown in " SPiiPlusEC Vertical Mounting Diagram" on the next pageto
mount the SPiiPlusEC on a vertical surface.

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3. Mounting

> Tighten the screws with a mximum torque of 3Kgf.

Figure 2-6. SPiiPlusEC Vertical Mounting Diagram

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4. Connections

4. Connections
This section describes how to interface with the SPiiPlusEC while following proper safety, EMC and
wiring guidelines.

4.1 Safety, EMC and Wiring Guidelines

Read this section carefully before beginning the installation process.
> Make sure that the following guidelines and procedures are addressed and observed prior
to powering up and while handling any of the EtherCAT network elements.
> Installation and maintenance must be performed only by qualified personnel who have
been trained and certified to install and maintain high power electrical and electro-
mechanical equipment, servo systems, power conversion equipment and distributed
networks.
> Prior to powering up the system, ensure that all EtherCAT network devices are properly
installed and grounded. Further ensure that all of the attached power and signal cables are
in good operating condition. Maintenance should be performed only after the relevant
network devices have been powered down, and all associated and surrounding moving
parts have settled in their safe mode of operation. Certain drives, in the network, require a
longer time to fully discharge.
> To avoid electric arcing and hazards to personnel and electrical contacts, avoid connecting
and disconnecting the SPiiPlusEC while the power source is on.
> When connecting the SPiiPlusEC to an approved isolated control supply, connect it through
a line that is separated from hazardous live voltages using reinforced or double insulation,
in accordance with approved safety standards.

The SPiiPlusEC is not intended for use in safety-critical applications (such as life
supporting devices) where a failure of the SPiiPlusEC can lead to severe personal injury
or death.

Perform the following instructions to ensure safe and proper wiring:

> Whenever possible, use shielded cables with braided shield of at least 80%-95% coverage.
> Proper wiring, grounding and shielding are essential for ensuring safe, immune and
optimal servo performance. After completing the wiring, carefully inspect all wires to
ensure tightness, good solder joints and general safety.
> "Wiring Guidelines" on the next page details the recommended wiring based on the
current rating of theSPiiPlusEC.

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4. Connections

Table 2-4. Wiring Guidelines

Twisted
Item Gauge Remarks
pair

Control Power Length should be as short as

18AWG No
Supply possible

EtherCAT CAT5e

For 1GbE Ethernet host

Ethernet CAT6 -
communication

4.1.1 General Safety Guidelines

In an emergency, disconnect the unit from the power supply.

Ensure that you comply with all electrical regulations.

4.2 Connecting the SPiiPlusEC

Connect the SPiiPlusEC as follows:
1. Ensure that all supplies are off when preparing the unit.
2. Connect the 24Vdc control supply to J6.
3. Connect the PE ground to J6 pin 3.
4. Connect the EtherCAT primary cable from the input port of the first slave module in the
EtherCAT network to J1.
5. If the EtherCAT network is configured for ring topology, connect the EtherCAT secondary
cable from the output port of the last slave module in the EtherCAT network to J2.
6. Connect the Ethernet cable from the host computer to J3.
7. If required, connect RS-232 cables to J4 and J5.

4.3 Powering the Unit

1. Turn on the 24Vdc control supply and verify communication with the SPiiPlusEC.

4.4 Recovering a non-functioning controller

If the SPiiPlusEC has stopped functioning, then the controller can be recovered through
the Recovery Task of the SPiiPlus MMI Application Studio Upgrade and Recovery
Wizard, see SPiiPlus MMI Application Studio User Guide.

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4. Connections

4.5 J1, J2 EtherCAT

4.5.1 J1 EtherCAT Primary (A)
Label: J1

Connector name EtherCAT primary (A)

Connector assignment J1

Manufacturer part number or type RJ45

Mating type Ethernet plug

Table 2-5. SPiiPlusEC J1 EtherCAT Primary (A) Pinout

Pin Signal Description

1 TD+ Positive transmit signal

2 TD- Negative transmit signal

3 RD+ Positive receive signal

4 NC Not connected

5 NC Not connected

6 RD- Negative receive signal

7 NC Not connected

8 NC Not connected

4.5.2 J2 EtherCAT Secondary (B)

Connector name EtherCAT secondary (B)

Connector assignment J2

Manufacturer part number or type RJ45

Mating type Ethernet plug

Table 2-6. SPiiPlusEC J2 EtherCAT Secondary (B) Pinout

Pin Signal Description

1 TD+ Positive transmit signal

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4. Connections

Pin Signal Description

2 TD- Negative transmit signal

3 RD+ Positive receive signal

4 NC Not connected

5 NC Not connected

6 RD- Negative receive signal

7 NC Not connected

8 NC Not connected

9 NC Not connected

The cable shield must be connected to the connector body.

4.6 J3 Ethernet
4.6.1 Connector Description

Connector name Ethernet

Connector assignment J3

Manufacturer part number or type RJ45

Mating type Ethernet plug

Table 2-7. SPiiPlusEC J3 Ethernet Pinout

Pin Signal Description

1 TX+_D1 Positive transmit signal

2 TX-_D1 Negative transmit signal

3 RX+_D2 Positive receive signal

4 BI+_D3 Bi-directional+ (for 1000Mb Ethernet only)

5 BI-_D3 Bi-directional- (for 1000Mb Ethernet only)

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4. Connections

Pin Signal Description

6 RX-_D2 Negative receive signal

7 BI+_D4 Bi-directional+ (for 1000Mb Ethernet only)

8 BI-_D4 Bi-directional- (for 1000Mb Ethernet only)

For 1000Mbps you must use CAT6 cable.

4.7 J4, J5 COM1, COM2

4.7.1 Connector Description
RS232 Serial Communications Ports

Connector name COM1, COM2

J4 - COM1
Connector assignment
J5 - COM2

Manufacturer part number or type D-type 9 pin male

Mating type D-type 9 pin female

Table 2-8. SPiiPlusEC J4, J5 COM1, COM2 Pinout

Pin Signal Description

1 NC Not connected

2 RXD Receive signal for communication port

3 TXD Transmit signal for communication port

4 NC Not connected

5 DGND Digital ground

6 NC Not connected

7 NC Not connected

8 NC Not connected

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4. Connections

4.8 J6 Control Supply

4.8.1 Connector Description

Connector name Control supply

Connector assignment J6

Mating type Phoenix MC 1,5/ 3-STF-3,81 - 1827716

Table 2-9. SPiiPlusEC J6 Control Supply Pinout

Pin Signal Description

1 24VDC +24V dc control supply

2 24V_RTN 24V dc control supply return

3 SHIELD SHIELD

Figure 2-7. J6 Connections

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5. Specifications

5. Specifications
5.1 Communication
5.1.1 Control Supply Input
Table 2-10. SPiiPlusEC Control Supply Input

Item Description Remarks

Designation 24Vdc 24VRTN.

Input range 24Vdc±20%

Note: Connect the control supply via 2A
Maximum Input
0.8A @ 19V fuse.
current

Reverse
Protection
polarity

5.1.2 EtherCAT Ports (Primary and Secondary)

Table 2-11. SPiiPlusEC EtherCAT Ports (Primary and Secondary)

Item Description Remarks

Transmit: ETH_TX±
Designation
Receive: ETH_RX±

Line Impedance 100Ω

Quantity 2 EtherCAT input and output ports

Interface TCP/IP 10/100Mbps or EtherCAT

Speed 100Mbps

5.1.3 Ethernet
Table 2-12. SPiiPlusEC Ethernet

Item Description Remarks

Transmit: ETH1_TX±
Designation
Receive: ETH1_RX±

Line
100Ω
Impedance

Quantity 1

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5. Specifications

Item Description Remarks

Standard Ethernet LAN

Interface
communication

For 1000Mbps you must use CAT6

Speed TCP/IP 10/100/1000Mbps
cable.

5.1.4 RS232 Serial Communication

Table 2-13. SPiiPlusEC RS232 Serial Communication

Item Description

> COM1
> RXD1 receive signal
> TXD1 transmit signal
Designation
> COM2
> RXD2 receive signal
> TXD2 transmit signal

Quantity 2

Speed Up to 115,200 baud

5.2 Performance
The following table details the SPiiPlusEC processing rate:
Table 2-14. SPiiPlusEC processing rate

Number of axes Minimum C_Time [ms] Maximum MPU cycle rate [kHz]

2, 4, 8 0.2 5

2, 4, 8, 16 0.25 4

2, 4, 8, 16, 32 0.5 2

2, 4, 8, 16, 32, 64 1 1

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5. Specifications

5.3 EtherCAT Cycle Rate

Table 2-15. CTIME Values for SPiiPlusEC (Rev. B and later) Controller

Maximum
Default
Number of
Number Controller Cycle Time
Maximum Simultaneously
Number of Built-in of ServoBoost
Controller Number Running
Drives Available Supported
of Axes Default
ACSPL+ ACSPL+ 1 (msec) 0.50 0.25 0.20
Motors Value
Buffers** Buffers 2 (msec) (msec)*** (msec)* (msec)*
(msec)
SPiiPlus EC-02-... - 2 10 2 10 √ (2,3) √ (2,3,4) √ (2,3,4) √ (2,3,4) 0.5 √
(2,3) (2,3,4) (2,3,4)
SPiiPlus EC-04-... - 4 10 4 10 √ √ √ √ (2,3,4) 0.5 √
SPiiPlus EC-08-... - 8 10 8 10 √ (2,3) √ (2,3,4) √ (2,3,4) √ (1,3,4) 0.5 √
SPiiPlus EC-16-... - 16 16 16 16 √ (2,3) √ (2,3,4) √ (2,3,4) - 0.5 √
SPiiPlus EC-32-... - 32 32 32 32 √ (2,3) √ (2,3,4) √ (2,3,4) - 0.5 √
SPiiPlus EC-64-... - 64 64 64 64 √ (2,3) √ (2,3,4) - - 1 √

(1)
2-axes Extended Segmented Motion (XSEG) with limitations: a. Segment length > 5 ms, b. IMM VEL = … command shouldn't be used
(2)
6-axes Extended Segmented Motion (XSEG) with limitation: Segment length > 1 ms. The user's responsibility is to ensure that the USAGE doesn't exceed 80%.
(3)
NetworkBoost (Ring Topology) with limitations: a. CTIME = 1 msec - up to 64 axes b. CTIME = 0.50 msec - up to 24 axes c. CTIME = 0.25 msec - up to 8 axes d. CTIME = 0.20 msec - up to 4 axes
(4)
BPTP/2 command limited to 4 axes or less

*Supported ordering option.

**Up to 64 buffers supported with ordering option.
*** 64 axes with Controller Cycle Time 0.50 (msec) supported with ordering option

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5. Specifications

5.4 Dimensions
158 x 45 x 124 mm (6.22 x 1.771 x 4.881 in).

5.5 Weight
> 450 g

5.6 Compliance with Standards

5.6.1 Environmental
> Operating temperature: 0 to +55⁰C.

A 10 CFM velocity-controlled cooling automatically starts operating when the operating

temperature exceeds 30⁰C.

> Storage temperature:-20⁰C to +85⁰C

> Humidity: 90%RH, non-dondensing

5.6.2 RoHS
> Design complies with ROHS requirements.

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