The CR100 is a compact motion control module with versatile features: 9-axis interpolation, modular expansion, open system support, EtherCAT master, and robust construction for diverse applications.

  1. Multi-Axis Interpolated Linkage Control:

    • Linux real-time OS with multitasking, supporting up to 9-axis interpolated linkage (X Y Z A B C U V W).
    • Enables spatial linear, arc, spline curve interpolation, continuous small line segment G64 interpolation, backlash compensation, lead error compensation, and tool compensation.
    • Supports Z pulse homing, secondary homing, G-code, and ladder diagram programming.
  2. Modular Expansion and Programmable Mapping Strategy:

    • Offers digital, analog, axis control, high-speed pulse, and bus modules.
    • Flexible programming and combination for cost-efficient system customization and upgrades.
  3. Integrated Upper Software – SamProIDE:

    • Programming, debugging, and application integrated into one software platform.
  4. Combination of Compiled Soft PLC and Motion Control:

    • Utilizes compiled PLC instructions with ultra-fast scan cycles (minimum instruction cycle of 1ns) for motion control programming using simple ladder diagram instructions.
  5. Open System Solution:

    • Supports USB, serial, Ethernet connections for PCs and HMIs.
    • Provides an open interface, including registers, to build an open system platform.
  6. EtherCAT Master:

    • FPGA-based EtherCAT master protocol stack with industry-leading real-time performance (±20ns).
    • Integrated with SamProIDE programming software for a unified EtherCAT master solution with programming, monitoring, and debugging capabilities.

Structure and Environment:

  • Dimensions: 115×96.5x94mm
  • Weight: 200g
  • Housing Material: Engineering plastic ABS+PC
  • Operating Environment Temperature: 0°C~55°C (non-freezing)
  • Operating Environment Humidity: 5~95% RH (non-condensing)
  • Shock Resistance: 10~25Hz (XYZ direction, 2G/30 minutes)


  • Power Consumption: 10W
  • Power Supply: DC24V±15%
  • IO Section: External DC24V
  • Static Protection: Level 3 ±6kV

Motion Control:

  • Pulse Frequency:
    • Axis control module differential up to 4MHz, IO module up to 200KHz.
  • Motion Functions:
    • Supports single-axis jogging (JOG), continuous trajectory motion.
  • Interpolation Curves:
    • Supports single-axis jogging (JOG), continuous trajectory motion.
  • Continuous Interpolation:
    • Multi-segment buffer, G64 continuous small line segment interpolation.
  • Error Compensation:
    • Lead error compensation, reverse backlash compensation, and tool radius compensation.
  • Homing Methods:
    • Supports Z pulse homing, secondary homing, and more.
  • Variable Speed Function:
    • Variable speed, rate setting, start/stop functions during motion.
  • G-Code Simulation:
    • G-code 3D trajectory, ladder diagram offline and online simulation.
  • G-Code Import:
    • CAD, text, image import to generate G-code.
  • Robotics:
    • Robotics online and offline simulation, coordinate system switching functionality.