Model Number Explanation

The IMC-S/23x is available as a two- or four-axis motion controller

with optional Remote I/O and AxisLink. The complete model number

is specified as shown below.

Pre-engineered cable assemblies are used for connecting the Flex I/O,

servo amplifiers, feedback devices, axis-specific (dedicated) I/O,

CPU watchdog, and the 4100-REC. The table below shows the avail

As shown in the figure below, the IMC-S/23x can produce motion on

any axis in many different ways. The indexer moves an axis using

either a trapezoidal, parabolic, or S-curve (controlled jerk) velocity

profile. Axis velocity, acceleration, and deceleration are programma

ble. Backlash compensation allows precise positioning in the pres

ence of mechanical backlash. The jogger produces constant speed

motion of an axis in either direction with programmable velocity,

acceleration and deceleration.

High Level Motion Functions

As shown in the figure below, the IMC-S/23x can produce motion on

any axis in many different ways. The indexer moves an axis using

either a trapezoidal, parabolic, or S-curve (controlled jerk) velocity

profile. Axis velocity, acceleration, and deceleration are programma

ble. Backlash compensation allows precise positioning in the pres

ence of mechanical backlash. The jogger produces constant speed

motion of an axis in either direction with programmable velocity,

acceleration and deceleration.

Electronic gearing allows any axis to be slaved to another axis (the

master) at a specified ratio. Electronic cams produce coordinated

motion profiles which are functions of time or the position of another

axis. Electronic gearing and cam motion may be combined with move

and jog motions to create complex motion profiles and synchroniza

tions. Motion merge capabilities allow smooth transitions between all

types of motion, thus providing a software clutch.

Two independent interpolators for all axes allow any two or three

axes to be moved as a group along a linear, circular or helical path.

Motions from the two interpolators may be combined with each other

or with other types of motion.

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.