Product Features

• Powerful graphical software development system (GML) with

real-time debugging makes application programming easy and fun.

• State-of-the-art Intel i960 RISC microprocessor.

• Completely digital—no potentiometers or other adjustments

required; will not drift with time, temperature or humidity.

• Multitasking operating system allows simultaneous execution of

up to 10 tasks for efficient utilization.

• Electronic gearing for synchronization of any axis to another at a

programmable ratio. Ratio may be specified as a floating point

number or integer fraction (1⁄3. 3⁄10.  etc.).

• Electronic cam for coordinated motion profiles on one or more

axes. Profiles may be position versus time or slave axis position

versus master axis position.

• Sophisticated phase shift and advance/retard capabilities for

electronic gears and cams allow complex motions to be easily

programmed.

• Auto-registration and auto-correction make high-speed

registration applications easy.

• Exclusive Imaginary Axis provides additional command-only

axis for precise generation of master motion in master-slave

applications or correction moves in registration and

synchronization applications.

• Concurrent, independent, or synchronous motion on all axes.

Interpolated motion on up to three axes.

• Wide position, speed, acceleration, and deceleration ranges for

precise control.

• Separately programmable acceleration and deceleration rates for

maximum versatility.

• Trapezoidal, parabolic, and S-curve velocity profiles.

• Rotary mode with electronic unwind allows unlimited position

range for rotary axes.

• Motion merge function allows seamless transition between all

types of motion.

• Most motion parameters (including master axis for electronic

gears and cams) can be changed on-the-fly with no delays.

• Powerful floating-point math capabilities including

transcendental functions (sin, cos, log, etc.).

• Sophisticated Nested Digital Serve Control Loop with automatic

servo setup for quick and easy servo tuning.

• Isolation of all external connections from the microprocessor

logic for reliable performance.

• 4 MHz maximum feedback count rate allows high speed

operation without sacrificing resolution.

• Encoder loss detection protects operators and machinery from

damage in the event of encoder feedback failure.

• Isolated 16-bit DACs for smooth motion. Software offset

correction eliminates drift with analog servo drives.

• Field-configurable servo outputs allow independent selection of

±10V or ±150 mA signal format for each axis.

• Programmable position lock and position error tolerances for

servo fault protection.

• Programmable directional software travel limits for enhanced

overtravel protection.

• Velocity feedforward to reduce following error.

• Four optically isolated inputs for a home switch, positive and

negative overtravel switches, and a drive fault signal for each axis.

• Relay-contact drive enable output for each axis.

• Optically isolated high-speed position registration input for each

axis for position synchronization and registration applications.

• CPU watchdog with front-panel LED indicator for fail-safe protection.

• AxisLink option allows real-time axis coordination between

controllers for distributed, multi-axis systems.

• Non-volatile storage (write-locked battery-backed RAM) of

application program, setup parameter and default variable values.

• Memory Lock keyswitch on front panel prevents accidental or

unauthorized changes to application program, setup parameters,

and default variable values.

Application programming of the IMC-S/23x for any application is

accomplished with GML, the exclusive Graphical Motion Control

Language from Allen-Bradley. Using GML, over 100 different

commands are available to completely customize operation of the

IMC-S/23x for your specific application. Complete application pro

grams are downloaded to the IMC-S/23x via a field-configurable

RS-232C or RS-422 port where they are stored in non-volatile mem

ory (write-protected battery-backed RAM). Complete hookup diag

nostics and automatic servo setup routines for self-tuning the servo

parameters make setting up the IMC-S/23x quick and easy.

A dedicated serial port—which can be field-configured for RS-232C,

RS-422. or Allen-Bradley DH-485 communications—is provided for

the man-machine interface (MMI). Connection of the MMI device is

via an AT-compatible DB-9 connector (RS-232C or RS-422) or

RJ-45 connector (DH-485), both located on the front panel.

The Remote I/O option allows the IMC-S/23x to communicate with

other Allen-Bradley devices via Remote I/O. The motion controller

can communicate directly with an A-B PLC® using both discrete and

block transfers. The AxisLink option allows axes on other IMC S

Class controllers or ALECs (AxisLink Encoder Converter modules)

to be used as master axes for electronic gearing and cams. This ability

provides real-time coordination for distributed, multi-axis systems in

electronic gearing, cam, lineshaft, and synchronization applications.

Product Description

The IMC-S/23x is a compact, rugged, microprocessor-based two- or

four-axis servo motion controller. By including the logic and field

power supplies, the IMC-S/23x provides a completely programmable,

stand-alone motion and logic controller suitable for a wide variety of

industrial applications.

The IMC-S/23x, in conjunction with external drive systems and

feed-back encoders, provides two or four axes of closed-loop

point-to-point positioning with profile (trapezoidal, parabolic, or

S-curve), velocity, acceleration, and deceleration control as well as

multi-axis linear, circular, or helical interpolation. The electronic

gearing feature allows any axis to be slaved to another at a program

mable ratio. The electronic cam feature allows coordinated motion

profiles which are functions of time or position of another axis.

Sophisticated phase shift, auto-registration, and auto-correction capa

bilities allow many complex motions and synchronizations to be eas

ily programmed. General-purpose discrete I/O, analog inputs, analog

outputs, etc. are provided by direct connection of Allen-Bradley

Flex™ I/O modules. Up to eight Flex I/O modules—providing a total

of 128 discrete I/O points—may be connected directly to the

IMC-S/23x. Analog inputs and outputs can be substituted for discrete

I/O blocks for increased I/O flexibility.