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High-speed 4-axis Motion Control Module with FRnet Master (For XP-9000/WP-9000 PAC)



€ 523,64

(VAT excluded)

€ 638,84(VAT included)

Prezzo di 1 pz. iva (22%) inclusa: € 638,84

Availability: 15 business days

SKU: 118869

Model: I-9094F

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  • Independent 4-axis motion control
  • Support for hand wheel and jog functions
  • 2/3-axis linear / 2-axis circular interpolation function
  • Continuous interpolation function
  • Programmable T/S-curve acceleration and deceleration
  • A maximum pulse output rate of 4 Mpps for each axis
  • Pulse Output Types: CW/CCW or PULSE/DIR
  • 32-bit encoder counter for each axis
  • Encoder Pulse Input Types: A/B Phase or Up/Down
  • Programmable automatic homing for each axis
  • Position comparison management and software limits
  • A wide range of synchronous actions (event-triggered actions)
  • Expandable Remote I/O: 128 DI and 128 DO via a two-wire FRnet interface


The I-8094F and I-9094F are 4-axis stepping/pulse-type servo motor control modules that can be used on the programmable automation controller (PAC) series provided by ICP DAS, and are suitable for general-purpose motion applications. The I-8094F/ I-9094F have the full functions of the I-8094/I-9094 with the addition of an FRnet port, which allows the fast remote I/O of the module to be expanded easily. This two-wired FRnet can automatically scan its 128 DI and 128 DO channels within a period of 2.88 ms. In addition to their wide speed range, these intelligent motion controllers also have a variety of motion control functions built in, such as 2/3-axis linear interpolation, 2-axis circular interpolation, T/S-curve acceleration/deceleration, numerous synchronous actions, automatic homing, and others.
A major advantage is that the majority of the I-8094F/I-9094F motion control functions are performed by the high-performance motion ASIC with little load on the processor. While driving the motors, the motion status, and the status of the other I/O channels on the PAC modules, can still be monitored. As the CPU loading requirements of the I-8094F/I-9094F is minimal, one or more motion modules may be used with a single PAC controller. ICP DAS also provides a wide range of functions and examples that can be used to reduce the need for additional programming, making it a highly cost-effective solution for motion control application developers.



Development: Visual C++ lib/DLL
C#, VB.Net DLL
Visual Basic 6.0
Utility: EzGo Utility


Connector: 68-pin SCSI-II connector


No. of Axes: 4
Operation Mode: Semi-closed Loop
Synchronous Action: 10 activation factors and 14 actions
Speed Profile: T/S-curve
Position Control Mode: Incremental mode and absolute
Command Type: Pulse Command
Auto-Home Search: Yes
Input Signal Filter: 2 ~ 16 ms, 8 stages

Axis I/O

Servo Interface Output: SVON
Manual Pulse Generator: Yes
Mechanical Switch Input: Home, LMT+/-,
Position Compare Output: 10 KHz (X and Y only)
Servo Interface Input: INP, ALM

Encoder Input

Ring Counter Mode: 32-bit
Mode: A/B Phase, Up/Down
Counting Rate: 4 MHz (Max.)
Counter Width: 32-bit

Pulse Output

Counter Width: 32-bit
Rate: 4 MHz (Max.)


Cicular: Any 2 axes
Continuous: Yes
Linear: Any 2 to 3 of 4 axes

Digital Input

Channels: Expandable : 128 DI
Isolation: 2500 Vrms optical isolation

Digital Output

Channels: Expandable : 128 DO
Isolation: 2500 Vrms optical isolation


Consumption: +5 V @ 500 mA


Operating Temperature: -20 ~ +75°C
Storage Temperature: -30 ~ +85°C
Humidity: 5 ~ 90% RH, non-condensing