i-8094A-G

Model: I-8094A-G

I-8094A-G High Speed 4-axis Motion Control Module with CPU inside

The I-8094A is a 4-axis 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 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. 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-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

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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: 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

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I-8094A-G

High Speed 4-axis Motion Control Module with CPU inside

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