ACS’ powerful platform consists of an EtherCAT Controller MPU
(MotionProcessor Unit) and one Servo Processor (SPii) at each
EtherCAT node. The MPU can manage systems with up to 64 fully
synchronized axes, executing all high level tasks, such as
communication, real time ACSPL+ and PLC programs, diagnostics,
I/O control and profile generation. The SPii floating point
processor at each node executes the real time control algorithms
for up to four axes, always at a sampling and update rate of
20kHz for each and every axis.
