Positioning controllers
Precise. Connected. Easy to integrate.
From the 2.5 g module to the 1,800 W unit: positioning via CANopen or EtherCAT, from your first code to your own board. ESCON2 is the compact Value Line, EPOS4 the Performance Line with EtherCAT and functional safety.
ESCON2
Lots of power in very little space.
From the ESCON2 Nano 24/2 with 2.5 g to the ESCON2 Module 60/30 with 1,800 W continuous power and up to 98.5 % efficiency: ESCON2 positions DC and EC motors and controls speed and current.
Start with a ready-to-connect unit, then move to the plug-in module on your own board: the design data of the motherboard are free of charge.
- Network:
CANopen according to CiA 402, without a bus via analog and digital I/O - Control:
FOC and feed forward, position controller with 10 kHz and holding brake control (firmware 0130h) - Encoders:
Hall sensors, incremental encoders, SSI, and BiSS C - Safety:
Configurable protection against overcurrent, overtemperature, undervoltage and overvoltage, voltage transients, and short circuits
ESCON2: key information at a glance.
Plug-in modules for your own board, ready-to-connect units, and a housed unit. Compare supply voltage and continuous current here, all further data are in the ESCON2 feature chart.
 ESCON2 Nano 24/2809635 |  ESCON2 Micro 60/5809631 |  ESCON2 Module 60/12854796 |  ESCON2 Module 60/30783722 |  ESCON2 Compact 60/2903540 |  ESCON2 Compact 60/5903533 |  ESCON2 Compact 60/12 854801 |  ESCON2 Compact 60/30783734 |  ESCON2 60/12854806 | |
|---|---|---|---|---|---|---|---|---|---|
| Operating voltage VCC | 24 V | 60 V | 60 V | 60 V | 60 V | 60 V | 60 V | 60 V | 60 V |
| Continuous output current Icont | 2 A | 5 A | 12 A | 30 A | 2 A | 5 A | 12 A | 30 A | 12 A |
| Clock frequency of the power stage | 50 kHz | 50 kHz | 100 kHz | 50 kHz | 100 kHz | 100 kHz | 100 kHz | 50 kHz | 100 kHz |
| PI current controller | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz |
| PI speed controller | 10 kHz | 10 kHz | 10 kHz | 10 kHz | 10 kHz | 10 kHz | 10 kHz | 10 kHz | 10 kHz |
| PID positioning controller | No | No | No | No | No | No | No | No | No |
| RS232 | Yes | Yes | Yes | Yes | No | No | No | No | No |
| USB | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes |
| CANopen | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes |
| EtherCAT | No | No | No | No | No | No | No | No | No |
| Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart |
| Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop |
Motion Studio
Free software, ready in minutes.
Motion Studio guides you from the connected motor to the tuned position controller: startup wizard, auto tuning, data recorder, and status monitor. Free of charge for Windows 10 and 11, via USB or CANopen.
EPOS4: from one axis to the whole machine.
EPOS4 brings positioning into your machine network: it connects to your PLC, industrial PC, or motion controller, from a single axis to multi-axis systems.
Up to 1,200 W: plug-in modules for your own board, ready-to-connect and housed units, a three-axis unit, and a round disk design with a centered hole.
- Network: EtherCAT or CANopen according to CiA 402, EtherCAT on EPOS4 Module with the optional extension card
- Control: Dual loop control on all variants, a second encoder on the load compensates play and elasticity
- Encoders: Hall sensors, incremental encoders, and SSI
- Safety: Certified Safe Torque Off (SIL 3, PL e) on the 60/20 STO variants or with the Safety Card STO
EPOS4: key information at a glance.
Plug-in modules for your own board. Build multi-axis systems via CANopen or EtherCAT without major development effort.
 EPOS4 Compact 24/5 EtherCAT 3-axes684519 |  EPOS4 Compact 24/1.5 CAN546714 |  EPOS4 Compact 24/1.5 EtherCAT628092 |  EPOS4 Compact 50/5 CAN541718 |  EPOS4 Compact 50/5 EtherCAT628094 |  EPOS4 Compact 50/8 CAN520885 |  EPOS4 Compact 50/8 EtherCAT605298 |  EPOS4 Compact 50/15 CAN520886 |  EPOS4 Compact 50/15 EtherCAT605299 |  EPOS4 Compact 60/20 CAN894250 |  EPOS4 Compact 60/20 CAN STO833726 |  EPOS4 50/5546047 |  EPOS4 70/15594385 | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Operating voltage VCC | 24 V | 24 V | 24 V | 50 V | 50 V | 50 V | 50 V | 50 V | 50 V | 60 V | 60 V | 50 V | 70 V |
| Continuous output current Icont | 5 A | 1.5 A | 1.5 A | 5 A | 5 A | 8 A | 8 A | 15 A | 15 A | 20 A | 20 A | 5 A | 15 A |
| Clock frequency of the power stage | 50 kHz | 100 kHz | 100 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz |
| PI current controller | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz |
| PI speed controller | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz |
| PID positioning controller | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz |
| RS232 | No | Yes | No | Yes | No | Yes | No | Yes | No | Yes | Yes | Yes | Yes |
| USB | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes |
| CANopen | No | Yes | No | Yes | No | Yes | No | Yes | No | Yes | Yes | Yes | Yes |
| EtherCAT | Yes | No | Yes | No | Yes | No | Yes | No | Yes | No | No | Yes | Yes |
| Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart |
| Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop |
Ready-to-connect units for prototypes.
For prototypes and small batch production as well as for mechanical and equipment engineering, the ready-to-connect EPOS4 controllers, available in various power classes, provide attractive and cost-effective options.
| EPOS4 Compact 24/5 EtherCAT 3-axes684519 | EPOS4 Compact 24/1.5 CAN546714 | EPOS4 Compact 24/1.5 EtherCAT628092 | EPOS4 Compact 50/5 CAN541718 | EPOS4 Compact 50/5 EtherCAT628094 | EPOS4 Compact 50/8 CAN520885 | EPOS4 Compact 50/8 EtherCAT605298 | EPOS4 Compact 50/15 CAN520886 | EPOS4 Compact 50/15 EtherCAT605299 | EPOS4 Compact 60/20 CAN894250 | EPOS4 Compact 60/20 CAN STO833726 | EPOS4 50/5546047 | EPOS4 70/15594385 | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Operating voltage VCC | 24 V | 24 V | 24 V | 50 V | 50 V | 50 V | 50 V | 50 V | 50 V | 60 V | 60 V | 50 V | 70 V |
| Continuous output current Icont | 5 A | 1.5 A | 1.5 A | 5 A | 5 A | 8 A | 8 A | 15 A | 15 A | 20 A | 20 A | 5 A | 15 A |
| Clock frequency of the power stage | 50 kHz | 100 kHz | 100 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz |
| PI current controller | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz |
| PI speed controller | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz |
| PID positioning controller | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz |
| RS232 | No | Yes | No | Yes | No | Yes | No | Yes | No | Yes | Yes | Yes | Yes |
| USB | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | Yes |
| CANopen | No | Yes | No | Yes | No | Yes | No | Yes | No | Yes | Yes | Yes | Yes |
| EtherCAT | Yes | No | Yes | No | Yes | No | Yes | No | Yes | No | No | Yes | Yes |
| Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart |
| Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop |
High-integration units for robots and wheel drives.
The round design with a centered hole enables seamless integration into joints, wheel drives, or robots with full EPOS4 functionality.
 EPOS4 Disk 60/8 CAN688770 |  EPOS4 Disk 60/8 EtherCAT688772 |  EPOS4 Disk 60/12 CAN688775 |  EPOS4 Disk 60/12 CAN SSC709859 |  EPOS4 Disk 60/12 EtherCAT688777 |  EPOS4 Disk 60/12 EtherCAT SSC709862 | |
|---|---|---|---|---|---|---|
| Operating voltage VCC | 60 V | 60 V | 60 V | 60 V | 60 V | 60 V |
| Continuous output current Icont | 8 A | 8 A | 12 A | 12 A | 12 A | 12 A |
| Clock frequency of the power stage | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz | 50 kHz |
| PI current controller | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz | 25 kHz |
| PI speed controller | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz |
| PID positioning controller | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz | 2.5 kHz |
| RS232 | No | No | No | No | No | No |
| USB | Yes | Yes | Yes | Yes | Yes | Yes |
| CANopen | Yes | No | Yes | Yes | No | No |
| EtherCAT | No | Yes | No | No | Yes | Yes |
| Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart | Feature Chart |
| Go to shop | Go to shop | Go to shop | Go to shop | Go to shop | Go to shop |
EPOS Studio
Commission, tune, program.
The free EPOS Studio takes you from commissioning to analysis:
- Startup wizard for step-by-step configuration
- Auto tuning: control parameters set automatically
- Analysis tools such as data recorder and command analyzer
Libraries with programming examples connect EPOS4 to your own software:
- Windows DLL for PC 32-bit/64-bit
- Linux Shared Object Library X86 32-bit/64-bit, ARMv6/v7/v8
32-bit, ARMv8 64-bit
Integration made easy.
Libraries, examples, and design data for your project, free of charge.
Programming
Motion Library
Windows DLL with a ready-to-use C++ example for ESCON2. Your code talks to the drive in minutes.
Device description
EDS and ESI
EDS files for ESCON2 come with Motion Studio, EDS and ESI files for EPOS4 with EPOS Studio.
Robotics
ROS2
Setup guide and example package for EPOS4 via CANopen with ros2_canopen.
Automation
CODESYS
EPOS4 as SoftMotion axis via CANopen. EtherCAT coming soon in Q4 2026.
Hardware design
HDK
Complete Altium Designer projects for the ESCON2 motherboards, free to download.
Downloads
Documentation
Feature charts, hardware references, and CAD data for every product.