> For the complete documentation index, see [llms.txt](https://docs.motion4sim.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.motion4sim.com/servo-driver-settings/ethercat-drive-support-omc-a6-series.md).

# EtherCAT Drive Support – OMC A6 Series

## Overview

Motion4Sim controllers support EtherCAT-based servo drives for high-performance motion systems.\ <br>

⚠ **Important:**\
At this stage, **only OMC A6 Series EtherCAT servo drives are officially supported**.\
Support for additional EtherCAT drives will be added once tuning and validation for Motion-Simrig systems are completed.

Currently validated example:

* [OMC A6 Series EtherCAT AC Servo Drive (e.g. A6-EC750H2A1, 750W)](https://www.omc-stepperonline.com/de/servomotor?mfp=377-kontrollmodi\[EtherCAT])

<div><figure><img src="/files/Kp05b9FL9t0KG4dcOo8N" alt="" width="188"><figcaption></figcaption></figure> <figure><img src="/files/tlORfRwembL4lu3X2TQi" alt="" width="188"><figcaption></figcaption></figure></div>

[OMC A6 Driver Manual Download](https://m4s-service.motion4sim.com/downloads/A6-EC_series_servo_drive_manual.pdf)

Other drives — even if EtherCAT-compatible — may not function correctly until officially supported.

***

## System Requirements

Before starting, ensure:

* Motion4Sim Controller with EtherCAT Master support (PRO+ License) need pcb 3.xx boards\
  older pcb 2.xx rev do not support EtherCat!
* OMC A6 EtherCAT Drive
* Compatible servo motor (matched to drive)
* Shielded EtherCAT CAT5e or CAT6 cable
* Proper grounding
* Correct mains power supply (e.g. 230V AC or 400V AC depending on model)
* Emergency stop circuit

***

## Safety Warning

⚠ Always disconnect mains power before wiring.\
⚠ High voltage is present inside the drive.\
⚠ Only qualified personnel should perform installation.\
⚠ Improper wiring may permanently damage the drive.

***

## Wiring Instructions

<div data-with-frame="true"><figure><img src="/files/POUoXO7IRjHeoflpBUKB" alt=""><figcaption></figcaption></figure></div>

### 1. Power Wiring

#### AC Input

Connect mains power to:

* **L1 / L2 / L3** (depending on single-phase or three-phase model)
* **PE (Protective Earth)** must be connected

Verify correct voltage according to drive label.

***

### 2. Motor Wiring

Connect:

* U / V / W → Motor phases
* PE → Motor earth
* Encoder cable → Drive encoder input (M17 connector or equivalent)

<figure><img src="/files/Ek326kQzltO7Hqt0R4zk" alt="" width="213"><figcaption></figcaption></figure>

Use only shielded motor cable if possible. the original cables are not shielded actually\
so shield them for yourself or ask for support

***

### 3. Motion4Sim Controller Wiring

The Motion4Sim Controller can be connected in two ways:

#### Option 1 – USB (Power + Communication)

The controller can be connected directly to the PC via USB.\
The USB connection provides both communication and power.

This setup is suitable for testing and initial configuration.

#### Option 2 – External 12V + Ethernet (Recommended)

For regular operation, it is recommended to use:

* External **12V DC power supply**
* Ethernet connection to your local network

The controller uses **DHCP**, so it works plug & play in most networks.

⚠ Make sure your router supports **multicast**, as Motion4Sim uses multicast to send telemetry data to the controller.

The use of external power and Ethernet (LAN RJ45 port) is strongly recommended for stable operation.

***

### 3. EtherCAT Wiring

The OMC A6 drive has two RJ45 ports:

* **EtherCAT IN**
* **EtherCAT OUT**

#### Single Drive Setup

Controller → EtherCAT IN (Drive)

#### Multiple Drive Setup (Daisy Chain)

Controller → Drive 1 (IN)\
Drive 1 (OUT) → Drive 2 (IN)\
Drive 2 (OUT) → Drive 3 (IN)\
… and so on

Termination is handled automatically by EtherCAT.\
No manual termination resistor required.

***

## EtherCAT Configuration

The servo driver is fully configured by the master controller. Simply connect it and supply power and voltage — the controller takes care of the rest. Individual setup parameters can be configured within the controller. However, most values are already preconfigured for use in motion sim rigs.

The configuration in the Motion4Sim controller is as follows:&#x20;

You need a Pro Plus license to control EtherCAT servos. To use EtherCAT Master Mode, you must activate the **EtherCAT** option in the Setup tab and then transfer the data to the controller by clicking **Transmit**.

<div><figure><img src="/files/DvVvbwFXlZ89kavtmtNU" alt=""><figcaption></figcaption></figure> <figure><img src="/files/bEWYGemGn8WhVDQeGEPv" alt=""><figcaption></figcaption></figure></div>

alternativly you can perform a "factory reset ethercat" , turning the encoder to left until you see the option and perform. the controller reboots with EtherCAT activated.

When the controller restarts and the EtherCAT drives are properly connected, it will first detect how many drives are connected. It will then partially reset them, configure them, and finally bring them into online status through a startup procedure. This process takes a short moment.

<br>

<figure><img src="/files/kka9jaWvpSg6opl4aAel" alt="" width="177"><figcaption></figcaption></figure>

You can monitor this in the status display — when ".**88rd"** is shown, the drives are ready for operation. now you can enter motion mode

Now you can perform basic Actuator checks using the Service Menu

{% content-ref url="/pages/IjWsLIO3ePvidCPOO8q1" %}
[Service Menu](/getting-started/how-the-system-works/service-menu.md)
{% endcontent-ref %}

or enter Motion Operation, this starts the homing procedure

{% content-ref url="/pages/GfgUqm6p2sPhmImqw3qC" %}
[Motion Operation](/getting-started/how-the-system-works/motion-operation.md)
{% endcontent-ref %}


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