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Model: I-8094A-G
High Speed 4-axis Motion Control Module with CPU Inside
I-8094A Manual I-8094A Software

The I-8094A is a 4-axis stepping/pulse-type servo motor control module that can be used on any of the ICP DAS WinCon series controllers, and is suitable for general-purpose motion applications. It is a module that has full functions of I-8094 and has an 80186 CPU inside this module to do extra functions. This CPU let this module be able to do motion without PAC. When working with PAC, It also allows users to add additional functions by calling user-defined subroutines (macro functions). Therefore, users can build their special know-how inside this module. I-8094A module contains a high-performance motion ASIC.

Apart from a wide speed range, this intelligent motion controller also has a variety of motion control functions built in, such as 2/3- axis linear interpolation, 2-axis circular interpolation, T/S-curve acceleration/deceleration, various synchronous actions, automatic homing, and others. In addition, most of the I-8094A motion control functions are performed with little load on the processor. While driving the motors, the motion status, and the other I/O status on the WinCon modules, can still be monitored.

As a result of the low CPU loading requirements of the I-8094A, one or more motion modules may be used on a single WinCon controller. ICP DAS has also provided a variety of functions and examples to reduce the need for programming by users, making it a highly cost-effective solution for motion builders.

  • Independent 2-axis Motion Control
  • Support for Hand Wheel and Jog Functions
  • 2/3-axis Linear Interpolation Function
  • 2-axis Circular Interpolation Function
  • Continuous Interpolation Function
  • Programmable T/S-curve Acceleration and Deceleration
  • A Maximum of 4 Mpps Pulse Output Rate for each Axis
  • Pulse Output Types: CW/CCW or Pulse/Direction
  • 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
  • Many Synchronous Actions (Event-triggered Actions)
  • Can Standalone or Work on a PAC


  • X-Y-Z Table
  • Fix-Pitch Stamping Machine
  • Transfer Machine
  • Spinner
  • Loader/Unloader
Item Detail Description Comment
Interpolation Functions Linear Interpolation (Interpolation Speed: 4 Mpps) 32-bit max for any single command
  Circular Interpolation (Interpolation Speed: 4 Mpps) 32-bit max for any single command
  Bit Pattern Interpolation (Interpolation Speed: 4 Mpps) Yes (for I-8000 only)
  Continuous Interpolation (Interpolation Speed: 2Mpps) Yes
Drive Speed Curve Maximum Drive Speed 4 Mpps
  Constant Speed Driving Yes
  Trapezoidal Acc/Dec Driving Yes
  Asymmetrical Trapezoidal Driving Yes
  Asymmetrical Trapezoidal Automatic Deceleration Driving Yes
  S-curve Acc/Dec Driving Yes
  Asymmetrical S-curve Driving Yes
  Asymmetrical S-curve Automatic Deceleration Driving No
Position Control Logic Position Counter/Bit Length for output pulse 32-bit
  Real Position Counter/Bit Length for output pulse 32-bit
  Position Compare Register Number/Axis 2
  Software Limit Yes
  Position Counter Variable Ring Yes
Automatic Home Search Configurable (4 Steps) for each axis including irregular operation handling Yes
  Step 1: high-speed near home search  
  Step 2: low-speed home search  
  Step 3: low-speed encoder Z-phase search  
  Step 4: high-speed offset drive  
Synchronous Action 10 activation factors (provocatives or events) and 14 actions Yes
External Signal for Driving Fixed/Continuous Pulse Output Yes
  Manual Pulsar Yes
Other Functions Drive Speed Change during Driving Yes
  Output Pulse Number Change during Driving Yes
  Triangle Form Prevention of Speed Curve Yes
Servo Motor Signal Servo Ready and Alarm Input Signals / Axis Yes
  Servo Enable Output / Axis Yes
Other Input Signals IN0 (Near Home), IN1 (Home), IN2 (Z-phase), IN3/Axis Yes
  Emergency Signal Yes
Input Signal Integral Type Filter Filter Time Constant: 2 ~ 16 ms, 8 stages Yes
Environment Operating Temperature: -20 ~ +75 °C  
  Storage Temperature: -30 ~ +85 °C  
  Operating Humidity: 10 ~ 85% RH, non-condensing  
  Storage Humidity: 5 ~ 90% RH, non-condensing  
  Isolation of I/O signal: 2500 Vrms  
Macro Functions User defined subroutines Yes
  The contents of subroutines can be different according to users  
  special designs  
  Can load functions as a macro on-line  
  Can run macro by default function calls  
  Keep user's know-how in privacy  

I-8094A-G High Speed 4-axis Motion Control Module with CPU Inside
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CA-SCSI50-H SCSI II 68-pin Male-Male Connector Cable, Length 5.0 M

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