EtherCAT I/O Solutions-Taiwan Pulse Motion



  • Control up to 10 axes
  • Various run modes

-Helix Path

-Circular Path


  • Hardware DIO binding

-WAIT statement

  • User-defined G/M commends
  • Extended

-G120-Spindle widing

– G121-Needle widing

– G122-Flyer fork widing (reserved)

  • UI Tool to simulate the G code script

– INTime Supported Versions

  • WindowsOS: win 7 and win 10
  • Network card (chip) Intel I210 and Intel I211
  • At least 4-core CPU


A high-performance and affordable SoftMotion controller for smart factory machine makers.

High Efficiency

EPCW APIs allow developers
to quickly create machine
control applications
in C++, C#, VS, and more

High Performance

Provide robust motion library to
build high performance machinery
with machine vision features


Offer 4-axes up to 60-axes variety
of synchronized softmotion
from saving hardware costs

User-friendly UI

Easy-configuration utility tool to
intergrade EtherCAT distributed
module like drives and IOs

Motion Profile


EtherCAT_SoftMotion Controller(SmartPAC_EtherCAT ECPW Controller)_ECPWG_Group


EtherCAT_SoftMotion Controller(SmartPAC_EtherCAT ECPW Controller)_ECPWG_Buffer

Interpolation Modes


EtherCAT_SoftMotion Controller(SmartPAC_EtherCAT ECPW Controller)_ECPWG_Interpolation Modes_3D Arc


EtherCAT_SoftMotion Controller(SmartPAC_EtherCAT ECPW Controller)_ECPWG_Interpolation Modes_Helix


EtherCAT_SoftMotion Controller(SmartPAC_EtherCAT ECPW Controller)_ECPWG_Interpolation Modes_Spiral


EtherCAT_SoftMotion Controller(SmartPAC_EtherCAT ECPW Controller)_ECPWG_Interpolation Modes_Cone

– Simply use G language with EPCWG EtherCAT softmotion controller for smart factory applications.

– Easily handle complex calculations and provide high-speed synchronized motion tasks in real-time comparing to PLCs.

– Allows complex 3D paths to be specified using simple geometric arcs helix, spiral and cone in order to define the desired path.

– Offers flexibility with the ability to integrate NCNavi and G/M-Codes and also supports simulator for process simulation.

ECPW(G) Main Features

ECPWG provides aboundent utilities to parse and execute the G code file under INTime Real-time system


Motion LibraryCommend ModeSync and Async
Home ModeCSP Homing
Motion ProfileT-Curve and S-Curve
Interpolation ModeLinear (All axes), 2D/3D Arc, Helical and Cone
Command Buffer1,000 for all
Change on the FlyTarget Position and Velocity
Path SmoothingFillet and Overlap
Soft LimitPositive and Negetive
Ring CounterRotary Axis
Event TriggerRealtime Latch and Comparator
Manual Pulse GeneratorMovement Follow MPG
E-GearRotating Cut
E-GearFlying Cut
G CodeAPI Implement
G CodeGUI Executor
G CodeG Code User-defined Plugin
EtherCATLogCaptureCommand Recorder
Simulation ModeExecute without Slave Module
Evaluation ModeExecute without Real time OS

xx = 04: supports 4 axes motion control & i/o

xx = 06: supports 6 axes motion control & i/o

xx = 08: supports 8 axes motion control & i/o

xx = 10: supports 10 axes motion control & i/o

xx = 20: supports 20 axes motion control & i/o

xx = 30: supports 30 axes motion control & i/o

xx = 40: supports 40 axes motion control & i/o

xx = 60: supports 60 axes motion control & i/o

EtherCAT_SoftMotion Controller(SmartPAC_EtherCAT ECPW Controller)_ECPWG_ECPW(G) Main Features
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