GE IC693APU302

The module executes closed-loop positioning for up to two independent axes using incremental or absolute encoders. It provides point-to-point positioning, electronic gearing, cam profiling, and registration control. All motion profiles and I/O logic are programmed with standard ladder logic through the Series 90-30 CPU, eliminating the need for external motion controllers. A dedicated 32-bit microprocessor handles real-time trajectory generation while the PLC CPU supervises overall machine control.

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Technical Specifications

Axes: 2 fully programmable servo/stepper axes
Encoder Inputs: 2 × 5 V differential (RS-422) or single-ended (TTL)
Maximum Count Frequency: 4 MHz (quadrature)
Pulse Outputs: 2 × differential step/direction or CW/CCW, 2 MHz max
Position Range: ±2,147,483,647 counts
Position Loop Update Rate: 1 ms per axis
Digital I/O on Module: 8 × 24 V DC inputs, 4 × 24 V DC outputs, opto-isolated
Power Supply: 5 V DC, 400 mA from PLC rack backplane
Operating Temperature: 0 °C to +60 °C
Dimensions: 110 mm × 66 mm × 50 mm

Functional Highlights

Integrated Motion Engine: Executes S-curve, trapezoidal, and velocity profiles autonomously
Flexible Feedback: Accepts incremental encoders, absolute SSI encoders, or stepper systems
Registration Capture: 1 µs position latch for high-speed mark detection
Electronic Gearing & Camming: Programmable gear ratios and user-defined cam tables
Programmable Limits: Hardware over-travel limits and software position windows
Diagnostic LEDs: Status indicators for power, fault, and axis activity
Hot Swap Support: Module replacement without powering down the PLC rack

Application Scenarios

Packaging Machinery: Synchronized cutting, indexing conveyors, and flying shears
Material Handling: High-speed pick-and-place robots and gantry systems
Printing & Converting: Web tension control and print registration
Machine Tool Feed Systems: Precision X-Y tables and tool changers
Textile & Paper: Roll diameter calculation and wind/unwind control

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