I-9094F, High-speed 4-axis Motion Control Module with FRnet Master (For XP-9000/WP-9000 PAC)
I-9094F
High-speed 4-axis Motion Control Module with FRnet Master (For XP-9000/WP-9000 PAC)
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Features
- 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
Introduction
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.
Specifications
Software
Development: Visual C++ lib/DLL
C#, VB.Net DLL
Visual Basic 6.0
Utility: EzGo Utility
Hardware
Connector: 68-pin SCSI-II connector
General
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
mode
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+/-,
NHOME, EMG
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
Mode: CW/CCW, PULSE/DIR
Counter Width: 32-bit
Rate: 4 MHz (Max.)
Interpolation
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
Power
Consumption: +5 V @ 500 mA
Environment
Operating Temperature: -20 ~ +75°C
Storage Temperature: -30 ~ +85°C
Humidity: 5 ~ 90% RH, non-condensing