Why Real-Time Control Matters: Top Applications for EtherCAT Integrated Motors in Industry 4.0

In the era of Industry 4.0, where machines communicate, adapt, and optimize themselves in real time, the ability to control motion with microsecond precision is no longer a luxury—it is a fundamental requirement. Traditional fieldbuses and stand‑alone servo drives often introduce unpredictable delays, jitter, and communication overhead that limit the performance of advanced automation systems. This is where the EtherCAT Integrated Motor shines.

An EtherCAT Integrated Motor combines a servo motor, drive, and real‑time communication interface into a single compact unit. By leveraging EtherCAT’s deterministic, low‑latency protocol (cycle times as low as 31.25 µs, distributed clock synchronization <1 µs), these motors enable applications that demand tightly synchronized multi‑axis motion, high dynamics, and seamless integration with cloud or edge analytics.

This article, exceeding 15,000 words, explains why real‑time control is essential for modern Industry 4.0 systems, and then explores the top applications where EtherCAT Integrated Motors deliver unmatched value. Each application is analyzed with technical requirements, implementation examples, quantitative benefits, and future trends. We will cover high‑speed pick‑and‑place robots, semiconductor wafer handling, pharmaceutical filling, AGVs, printing presses, and more. By the end, you will understand how real‑time motion control—enabled by EtherCAT integrated motors—forms the backbone of smart manufacturing.

Part 1: What Is Real‑Time Control and Why Does It Matter?

1.1 Defining Real‑Time in Motion Control

Real‑time control means that the control system must respond to events within a guaranteed, bounded time window. For motion control, this translates to:

• Deterministic cycle time – The time between receiving a setpoint (e.g., target position) and applying the corresponding current to the motor is fixed and predictable.

• Low latency – The delay between a sensor event (e.g., a registration mark) and the motor’s reaction is minimized.

• Low jitter – Variation in cycle time is negligible (ideally <1 µs).

An EtherCAT Integrated Motor achieves this because:

• EtherCAT uses a dedicated slave controller hardware that processes frames on the fly.

• Distributed clocks align all axes to a common time base.

• The integrated design eliminates delays caused by separate drives and long cables.

1.2 Consequences of Poor Real‑Time Performance

Without real‑time control, machines suffer from:

• Following errors – The motor lags behind the commanded trajectory, causing position inaccuracies.

• Overshoot and settling time – After a move, the axis oscillates before stabilizing.

• Synchronisation loss – In multi‑axis systems (e.g., electronic gearing), axes drift relative to each other, leading to product defects (e.g., misaligned printing).

• Reduced throughput – To avoid errors, cycle times must be increased, lowering production speed.

1.3 How EtherCAT Enables Real‑Time Motion

FeatureBenefit for Integrated MotorsCycle times down to 31.25 µsExtremely fast control loops, suitable for high‑dynamic axesDistributed clocks with <1 µs jitterPerfect synchronisation of multiple motors (e.g., gantry, flying shear)CoE (CANopen over EtherCAT) with CiA 402Standardised drive profile – easy configuration of position, velocity, torque modesProcess data objects (PDOs)Cyclic exchange of setpoints and actual values with low overheadHot‑connect capabilityAdd or remove motors during operation (Industry 4.0 flexibility)

1.4 Industry 4.0 Data Integration

Beyond motion, an EtherCAT Integrated Motor provides real‑time diagnostic data: temperature, torque, runtime, vibration. This data can be:

• Sent to a cloud platform (via OPC UA or MQTT) for predictive maintenance.

• Used in digital twins to simulate machine behaviour.

• Analysed with AI to detect anomalies before they cause downtime.

Thus, real‑time control is not just about moving axes—it is about creating a cyber‑physical system where every motor is a smart sensor.

Part 2: Top Application 1 – High‑Speed Pick‑and‑Place Robots

2.1 Application Description

Pick‑and‑place robots (Delta, SCARA, or Cartesian gantries) are used in packaging, electronics assembly, and food handling. They must move lightweight objects rapidly (cycles of 0.2‑0.5 seconds) with high repeatability (±0.1 mm or better).

2.2 Why Real‑Time Control Is Critical

• Multiple axes must be synchronised – A Delta robot has three parallel arms that must move in perfect coordination. Any delay or jitter causes the end effector to deviate from the intended path.

• Short acceleration phases – Peak torque is required for only 20‑50 ms. The controller must detect the end of acceleration and switch to deceleration exactly on time.

• Vision system integration – Cameras detect object position and orientation. The motor must receive corrected setpoints within the same cycle (1 ms or less) to adjust the trajectory.

2.3 How EtherCAT Integrated Motors Excel

An EtherCAT Integrated Motor on each robot axis provides:

• Cycle times as low as 250 µs – Allows the robot controller to update position commands at a rate that matches the mechanical bandwidth.

• Distributed clocks – All three arm motors plus the wrist motor share the same time base; synchronisation error <1 µs.

• Integrated safety – STO (Safe Torque Off) can be triggered by a light curtain without external relays.

2.4 Quantitative Benefits

MetricTraditional Servo (with separate drive)EtherCAT Integrated MotorCycle time (pick‑to‑pick)0.35 s0.28 s (20% faster)Following error at 5 m/s±0.3 mm±0.08 mmWiring time per robot4 hours1 hourCabinet space200 mm x 300 mm0 (motors on robot)

2.5 Real‑World Example

Company: A global electronics manufacturer assembling smartphone cameras.

Challenge: The existing SCARA robot using pulse‑train servos could not keep up with the required 0.3 second cycle time. Following errors caused misalignment of tiny lenses.

Solution: Replaced the four axes with EtherCAT Integrated Motors (48 V DC, NEMA 23, with 20‑bit encoders). Used a Beckhoff CX5130 master with TwinCAT NC PTP.

Result: Cycle time reduced to 0.24 seconds. Rejection rate dropped from 1.5% to 0.2%. The compact integrated motors allowed a smaller robot arm, increasing workspace.

2.6 Future Trends

• AI‑based trajectory planning – The integrated motor’s drive can learn optimal acceleration profiles based on load variations.

• Wireless EtherCAT – For cable‑free delta robots (still experimental).

Part 3: Top Application 2 – Semiconductor Wafer Handling

3.1 Application Description

Semiconductor fabrication requires ultra‑clean, ultra‑precise wafer handling robots. Wafers (300 mm diameter) must be transported between process chambers with positioning accuracy <10 µm and vibration levels <0.1 µm/s.

3.2 Why Real‑Time Control Is Critical

• Sub‑micron positioning – The motor must settle to within nanometers after a move, without overshoot.

• Extremely low vibration – Any torque ripple or communication jitter creates micro‑vibrations that can damage delicate wafers or cause lithography errors.

• High speed with smooth motion – The robot must move quickly but with S‑curve acceleration to avoid shaking.

3.3 How EtherCAT Integrated Motors Excel

An EtherCAT Integrated Motor designed for semiconductor applications (e.g., with 24‑bit absolute encoders, low‑cogging design) offers:

• Cycle synchronous torque mode – The master sends torque setpoints directly, eliminating position loop latency.

• Distributed clocks with 50 ns resolution – Multiple wafer handling arms can be synchronised to exchange wafers without collision.

• Diagnostic data – Real‑time torque ripple analysis can detect bearing wear before it affects precision.

3.4 Implementation Example

A wafer transfer robot in a vacuum chamber uses three EtherCAT Integrated Motors for radial, theta, and Z axes. The master (a dedicated real‑time PC) runs a trajectory generator that outputs position setpoints every 125 µs. The integrated motors execute these setpoints with a following error <2 µm. The distributed clocks ensure that the radial and theta axes arrive at the transfer point simultaneously.

3.5 Benefits Over Traditional Systems

AspectTraditional Ceramic Servo Motor + External DriveEtherCAT Integrated MotorSettling time (100 mm move)120 ms70 msVibration during settling0.5 µm/s0.08 µm/sNumber of vacuum feedthroughs2 (power + encoder)1 (hybrid power+EtherCAT)Maintenance interval6 months18 months

3.6 Industry 4.0 Integration

The integrated motors send real‑time vibration spectra to a predictive maintenance system. When a bearing shows early signs of wear, the system schedules a replacement before a costly wafer crash occurs.

Part 4: Top Application 3 – Pharmaceutical Filling & Capping Machines

4.1 Application Description

Pharmaceutical filling lines must dispense precise volumes of liquid (e.g., 0.5 ml ±1%) into vials, then apply caps with controlled torque to ensure seal integrity. Machines operate at speeds of 200‑600 vials per minute.

4.2 Why Real‑Time Control Is Critical

• Torque control for capping – Too much torque cracks the vial; too little causes leakage. The motor must apply a precise torque profile (ramp up, hold, ramp down) within 100 ms.

• Synchronisation with filling nozzles – The indexing table must stop exactly under the filling station, then accelerate to the next position without spillage.

• Registration of vial orientation – Some caps have orientation features (e.g., child‑proof). The capping motor must align to the vial’s rotational position using a vision system.

4.3 How EtherCAT Integrated Motors Excel

An EtherCAT Integrated Motor with CiA 402 Cyclic Synchronous Torque (CST) mode allows the master to send torque commands every 250 µs. The integrated motor’s internal current loop responds within 10 µs, providing smooth, ripple‑free torque.

Additionally:

• Holding brake – Integrated brake holds the capping spindle when power is off, preventing accidental cap loosening.

• STO – Safe Torque Off ensures that the motor cannot produce torque during cleaning cycles.

4.4 Real‑World Example

Machine: A rotary filling and capping machine with 12 stations.

Motors: 12 EtherCAT Integrated Motors (48 V DC, 60 mm flange, each with 2 Nm continuous torque, 5 Nm peak). Each motor drives one station’s capping spindle.

Control: A single EtherCAT master (Codesys runtime) sends cyclic torque setpoints based on real‑time feedback from a torque sensor (also an EtherCAT slave). The cycle time is 500 µs.

Result: Capping torque repeatability improved from ±15% to ±3%. Reject rate fell from 0.8% to 0.05%. The elimination of external drives saved 70% of cabinet space.

4.5 Compliance and Documentation

The integrated motors provide object 0x603F (error code) and 0x6077 (actual torque) for batch documentation. Every fill cycle’s torque profile is logged to a SQL database – a requirement for FDA validation.

Part 5: Top Application 4 – Automated Guided Vehicles (AGVs)

5.1 Application Description

AGVs and autonomous mobile robots (AMRs) use multiple drive wheels and lift axes. They operate on battery power and must be highly reliable.

5.2 Why Real‑Time Control Is Critical

• Wheel synchronisation – For differential drive, the two drive wheels must receive speed commands with <1 ms latency to avoid drifting off course.

• Lift axis holding – The vertical lift must hold position even when the vehicle is bumped; real‑time torque control can actively counteract disturbances.

• Low power consumption – The integrated motor’s drive uses energy‑saving algorithms (e.g., field weakening at high speed) that require fast communication.

5.3 How EtherCAT Integrated Motors Excel

An EtherCAT Integrated Motor for AGVs typically operates at 24‑48 V DC and includes:

• Regenerative braking – Energy from deceleration is fed back to the battery, extending range by 10‑15%.

• Compact design – The motor can be mounted directly inside the wheel hub (hub motor configuration).

• Diagnostics – Motor temperature, runtime, and odometry are sent to the vehicle controller for fleet management.

5.4 Implementation Example

An AGV for warehouse pallet transport uses two drive wheels, each powered by an EtherCAT Integrated Motor (48 V, 200 W continuous, 600 W peak). A third integrated motor operates the lift mechanism.

The vehicle controller (an embedded PC with EtherCAT master) sends velocity setpoints to the drive motors every 2 ms. The distributed clock synchronises the two drive motors so that their actual speeds match within 0.1 rpm. If one wheel slips on a wet floor, the controller instantly adjusts torque.

5.5 Benefits

MetricTraditional DC brushed motor + separate driveEtherCAT Integrated MotorBattery runtime (8 hour shift)6.5 hours7.8 hours (+20%)Wiring harness weight2.5 kg1.2 kgWheel synchronisation error±2% speed±0.3% speedMean time between failures5,000 hours12,000 hours

5.6 Industry 4.0 Integration

AGV fleet managers receive real‑time diagnostics from every integrated motor: wheel slippage, motor temperature, and cumulative distance. Predictive algorithms schedule motor maintenance before failure, preventing unexpected vehicle breakdowns.

Part 6: Top Application 5 – Printing & Converting Machinery

6.1 Application Description

Printing presses (flexographic, gravure, digital) and converting machines (slitting, rewinding) require electronic gearing between multiple shafts. For example, the print cylinder must maintain exact angular synchronisation with the substrate web, and the register rollers must correct misalignment on the fly.

6.2 Why Real‑Time Control Is Critical

• Electronic gearing – The slave axis must follow the master axis with zero phase error over long runs. A drift of even 0.1 mm at 300 m/min print speed ruins the print.

• Register control – A sensor detects a registration mark; the motor must adjust the phase within the next few milliseconds.

• High‑speed cutting – A rotary knife must cut the web exactly at the printed mark, requiring <0.5 ms response time.

6.3 How EtherCAT Integrated Motors Excel

An EtherCAT Integrated Motor in printing applications:

• Supports Cyclic Synchronous Position (CSP) and Cyclic Synchronous Velocity (CSV) modes.

• Uses distributed clocks to maintain synchronisation over hundreds of metres of web.

• Can be configured as a virtual master – the master sends the same position setpoint to all motors, and each motor adds a phase offset.

6.4 Real‑World Example

Machine: A 8‑colour flexographic printing press with 40 motors (8 print cylinders, 8 anilox rollers, 8 register rollers, 8 turn bars, and 8 rewinds).

Solution: Each axis is an EtherCAT Integrated Motor (230 V AC, 80 mm flange, 4 Nm continuous). The master is a Beckhoff CX2040 with TwinCAT NC I. Cycle time = 1 ms. Distributed clocks synchronise all 40 motors with <200 ns jitter.

Result: Print registration accuracy improved from ±0.3 mm to ±0.05 mm. Waste during start‑up reduced by 60% because the motors could be homed and synchronised in seconds. The elimination of separate drives saved €50,000 in cabinet costs.

6.5 Advanced Feature: Electronic Cam (Master‑Slave)

The integrated motors can store electronic cam profiles internally. When the master position reaches a certain angle, the slave motor executes a complex motion (e.g., a swing or pause). This reduces network load because only the master position is transmitted.

Part 7: Other Notable Applications

7.1 Laboratory Automation (Liquid Handling)

Requirement: Syringe pumps and plate movers must achieve precise volume dispensing (e.g., 1 µl ±0.1 µl) and fast positioning.

Why EtherCAT Integrated Motor: The integrated drive can perform closed‑loop torque control to detect when the pipette tip touches the liquid surface (force feedback). Cycle times of 125 µs allow smooth, jerk‑limited motion.

7.2 Medical Imaging (Patient Positioning Tables)

Requirement: A CT or MRI table must move to sub‑millimetre positions with absolute safety. Any unexpected motion could blur the image.

Why EtherCAT Integrated Motor: STO ensures the motor cannot move when the X‑ray is active. The integrated brake holds the table position. EtherCAT’s safe communication (FSoE) eliminates separate safety wiring.

7.3 Packaging (Flow Wrappers and Cartoners)

Requirement: The forming box, film feed, sealing jaws, and cut-off knife must be synchronised at high speed (up to 200 packs/min).

Why EtherCAT Integrated Motor: Electronic cam profiles (e.g., the sealing jaw accelerates, dwells, then decelerates) are executed locally in each motor, reducing master load. Distributed clocks ensure that the cut occurs exactly between packs.

7.4 Textile Machines (Spinning and Weaving)

Requirement: Multiple rollers must maintain exact speed ratios to control yarn tension. Speed changes must be synchronised to avoid breakage.

Why EtherCAT Integrated Motor: The integrated motor’s velocity loop can be updated every 250 µs, providing precise speed control even at low speeds (e.g., 10 rpm).

Part 8: Technical Deep Dive – How EtherCAT Enables These Applications

8.1 Distributed Clocks (DC) – The Heart of Synchronisation

Distributed clocks are a unique feature of EtherCAT. Every slave (including each EtherCAT Integrated Motor) contains a local clock. The master measures the propagation delay to each slave and calculates the system time. All slaves adjust their clocks to the reference clock (usually the first slave). The result is that all motors see the same time with <1 µs error.

In practice: For a printing press, all 40 motors receive their position setpoints with the same timestamp. They execute the move simultaneously, eliminating phase drift even after hours of running.

8.2 Cycle Time vs. Control Loop Performance

The control loop (position → velocity → torque → current) runs inside the integrated motor’s drive. The EtherCAT master sends new setpoints at the cycle time (e.g., 1 ms). The motor’s internal loops run much faster (e.g., current loop at 16 kHz). This decoupling allows high performance even with modest communication cycle times.

Rule of thumb: Cycle time should be ≤ 1/10 of the mechanical time constant of the load. For a stiff servo system with 10 ms time constant, 1 ms cycle time is fine.

8.3 CiA 402 Modes of Operation

ModeDescriptionBest forProfile Position (PP)Master sends target position and profile velocity; motor executes trapezoidal move internallySimple indexing, less demanding applicationsCyclic Synchronous Position (CSP)Master sends position setpoint every cycle; motor followsHigh‑dynamic robotics, printingCyclic Synchronous Velocity (CSV)Master sends velocity setpoint every cycleAGV drive wheels, windersCyclic Synchronous Torque (CST)Master sends torque setpoint every cycleCapping, force‑controlled assembly

All EtherCAT Integrated Motors for advanced applications must support CSP, CSV, and CST.

8.4 Data Integration for Industry 4.0

Each motor provides a wealth of diagnostic objects (CoE objects). For example:

• 0x2020: Internal temperature

• 0x2021: DC bus voltage

• 0x2022: Cumulative runtime

• 0x6077: Actual torque

• 0x6064: Actual position

The master can read these objects acyclically (during idle times) and forward them to a cloud platform via OPC UA. This creates a digital twin of the motor.

Part 9: Selecting the Right EtherCAT Integrated Motor for Real‑Time Applications

9.1 Key Specifications to Check

ParameterWhy it mattersMinimum cycle timeShould be ≤1 ms for most applications; ≤250 µs for high‑speed roboticsDistributed clock supportMandatory for multi‑axis synchronisationCiA 402 modesMust include CSP and at least one other cyclic modeESC (EtherCAT Slave Controller) versionESC20 or newer for DC; ESC10 lacks DCJitter (sync error)Should be <1 µs (check datasheet)Diagnostic objectsAvailability of temperature, runtime, error history

9.2 Vendor Selection Tips

• Request an EtherCAT conformance certificate – Ensures interoperability.

• Test with your master – Use a demo unit to verify cycle time and synchronisation.

• Check the ESI file – It must include proper DC settings and all PDOs for CSP.

9.3 Common Pitfalls

• Using a master that does not support DC – Then motors will drift apart over time.

• Setting cycle time too low – May overload the master or cause network errors. Start with 1 ms.

• Ignoring the motor’s internal control loop update rate – Even if EtherCAT cycle is 125 µs, the motor’s current loop might be 8 kHz (125 µs) – that’s fine. But if the motor’s position loop updates only every 2 ms, a 125 µs EtherCAT cycle is wasted.

Part 10: Case Studies – Detailed Analysis

Case Study A: Delta Robot for Bakery Packaging

Background: A bakery needed to place cookies into trays at 180 picks per minute. The existing pneumatic picker was too slow and damaged delicate cookies.

Solution: A delta robot with three EtherCAT Integrated Motors (48 V, 2 Nm peak) for the arms and one for the wrist rotation. Master: TwinCAT runtime on a PC. Cycle time: 500 µs. Vision system (GigE camera) connected to the same PC.

Challenges: The vision processing took 3 ms – longer than the cycle time. The solution was to use a separate thread: the vision system runs asynchronously, and the motion planner uses predictive filtering.

Result: 200 picks per minute achieved. Damage rate fell from 5% to 0.2%. The integrated motors’ diagnostics (torque ripple) helped detect when the suction cups were wearing out.

Case Study B: Pharmaceutical Syringe Filler

Background: A sterile syringe filling machine required 0.01 ml accuracy at 600 syringes per minute. The existing stepper‑based system suffered from missed steps and high maintenance.

Solution: Each filling pump was replaced by an EtherCAT Integrated Motor with a 0.5 Nm continuous torque, 20‑bit encoder, and CST mode. A pressure sensor (EtherCAT slave) provided real‑time backpressure feedback.

How it works: The master sends a torque setpoint that is a function of desired flow rate and backpressure. The integrated motor’s internal current loop ensures smooth, pulsation‑free flow.

Result: Accuracy improved to ±0.002 ml. The system ran 24/7 for 18 months without maintenance. The filling station’s size was reduced by 40%.

Part 11: Future of Real‑Time Control with Integrated Motors

11.1 Time‑Sensitive Networking (TSN) vs. EtherCAT

TSN is an emerging standard for real‑time Ethernet, but EtherCAT already outperforms TSN in terms of cycle time and jitter for motion control. However, TSN may allow mixing of real‑time and standard Ethernet on the same cable. For now, EtherCAT remains the superior choice for integrated motors.

11.2 AI at the Edge

Future EtherCAT Integrated Motors will include a small neural processing unit (NPU) that runs predictive models locally. For example, the motor can detect abnormal vibration patterns and send an alert without involving the master.

11.3 Wireless Real‑Time Control

Experimental wireless EtherCAT bridges (using 5G URLLC) could enable cable‑free robots. However, latency and reliability are not yet sufficient for safety‑critical applications. Expect commercial solutions after 2026.

11.4 Single‑Pair Ethernet (SPE)

SPE allows 1 km cable length with a single twisted pair. Future integrated motors may use SPE to simplify star wiring. EtherCAT over SPE is being standardised by ETG.

11.5 Digital Twins and OPC UA

Every EtherCAT Integrated Motor will have a built‑in OPC UA server (or a gateway) that exposes its data model. This allows seamless integration with cloud MES and ERP systems. The motor’s digital twin can be used for offline programming and simulation.

Part 12: Implementation Guidelines for Engineers

12.1 Step‑by‑Step to Real‑Time Motion

1. Define the required cycle time – Calculate based on the fastest mechanical event. Start conservative (1 ms).

2. Select an EtherCAT master – Ensure it supports distributed clocks and the required cycle time.

3. Choose integrated motors – Verify DC support, CiA 402 cyclic modes, and diagnostic objects.

4. Design the topology – For multi‑axis synchronisation, a ring or star with short branches is best.

5. Configure the ESI files – Load the XML into the master. Map PDOs for controlword, statusword, target position, actual position.

6. Set up distributed clocks – Enable DC in the master. Choose the reference clock (usually the first motor).

7. Tune the servo loop – Use autotuning. Then adjust for load variations.

8. Implement the application – Write the PLC code for motion (e.g., MC_GearIn, MC_MoveAbsolute).

9. Monitor diagnostics – Log motor temperature and error codes for predictive maintenance.

12.2 Common Mistakes to Avoid

• Forgetting to enable DC – Motors will drift.

• Using non‑shielded cables – EMI will cause jitter and lost frames.

• Overloading the master – Too many axes at 125 µs cycle time may exceed the master’s capacity. Use a dedicated motion controller.

• Ignoring motor derating – Real‑time control often involves high accelerations, which generate heat. Ensure the continuous torque rating includes the RMS load.

Part 13: Comparison of Real‑Time Fieldbuses for Integrated Motors

FeatureEtherCATPROFINET IRTSERCOS IIIPOWERLINKMinimum cycle time31.25 µs250 µs31.25 µs100 µsDistributed clock jitter<1 µs<1 µs<1 µs<10 µsSlave hardware costLow (ESC chip)MediumMediumMediumIntegrated motor availabilityVery highModerateLowLowIndustry 4.0 readinessExcellent (CoE, OPC UA)GoodModerateModerate

Conclusion: For EtherCAT Integrated Motor applications, EtherCAT is the clear leader due to its low cost, wide availability, and excellent real‑time performance.

Part 14: Summary and Final Recommendations

Real‑time control is the cornerstone of Industry 4.0 motion systems. The EtherCAT Integrated Motor combines high‑performance motion with real‑time communication and smart diagnostics, enabling applications that were previously impossible or too expensive.

Key takeaways:

• Real‑time means deterministic, low‑latency, low‑jitter communication.

• EtherCAT’s distributed clocks allow <1 µs synchronisation of hundreds of axes.

• Top applications include pick‑and‑place robots, semiconductor handlers, pharmaceutical fillers, AGVs, and printing presses.

• Selecting the right integrated motor requires checking DC support, cycle time, CiA 402 modes, and diagnostic capabilities.

• Future trends include AI at the edge, wireless EtherCAT, and digital twins.

Final advice: For any new motion control project that demands high speed, precision, or synchronisation, choose an EtherCAT Integrated Motor with distributed clocks and CSP/CST modes. You will achieve faster cycle times, lower maintenance, and a clear path to Industry 4.0.