i-8094H-G

Model: I-8094H-G

I-8094H-G High Speed 4-Axes Motion Control Module

The I-8094H is a 4-axes stepping/pulse-type servo motor control module that can be used on any of the ICPDAS Wincon series controllers, and is suitable for general-purpose motion applications. It is a module that has full functions of I-8094 plus one port of FRnet and has an 80186 CPU inside this module to do extra functions. The FRnet port allows this module to expand its fast remote I/O easily. This two-wired FRnet can automatically scan its 128 DI and 128 DO with a period of 2.88 ms. 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-8094H 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- axes linear interpolation, 2-axes circular interpolation, T/S-curve acceleration/deceleration, various synchronous actions, automatic homing, and others. In addition, most of the I-8094H 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-8094H, one or more motion modules may be used on a single Wincon controller. ICPDAS 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.

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Independent 4-axes motion control

Support for hand wheel and jog functions

2/3-axes linear interpolation function

2-axes circular interpolation function

Continuous interpolation function

Programmable T/S-curve acceleration and deceleration

A maximum of 4M pps 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

Expandable remote I/O: 128 DI and 128 DO via two-wired FRnet interface

Application

X-Y-Z Table

Fix-Pitch Stamping Machine

Transfer Machine

Spinner

Loader/Unloader

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Item	Detail Description	Comment
Interpolation Functions	Linear Interpolation (Interpolation Speed: 4Mpps)	32-bit max for any single command
	Circular Interpolation (Interpolation Speed: 4Mpps)	32-bit max for any single command
	Bit Pattern Interpolation (Interpolation Speed: 4Mpps)	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 ~ 16ms, 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: 2500Vrms
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
FRnet interface	Max. 128 DI and 128 DO	Yes
	Hardware auto-scan I/O for every 2.88 ms
	Two-wired serial bus is very wire-saving
	Max. communication distance: 400 M
	Plenty of FRnet I/O terminal boards and modules are available

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I-8094H-G

High Speed 4-axes Motion Control Module with CPU inside

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CA-SCSI15	68-pin SCSI-II connector Cable 1.5m
CA-SCSI30	68-pin SCSI-II connector Cable 3m
CA-SCSI50	68-pin SCSI-II connector Cable 5m

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