Technical Specifications:

• Number of Axes: 4 servo/stepper axes (simultaneous interpolation)
• Interpolation Modes: Linear, Circular, 3D Circular, Helical, Point-to-Point, Polynomial
• Maximum Pulse Frequency: 4 MHz per axis (simultaneous on all 4 axes)
• Positioning Resolution: 32-bit (4,294,967,296 counts per revolution)
• Control Cycle Time: 1 ms (standard), 500 µs (high-speed mode), 250 µs (ultra-high-speed option)
• Program Memory: 2 MB Flash + 1 MB RAM
• I/O Capacity: Up to 512 digital I/O + 64 analog I/O (via expansion)
• Communication Ports: 2x Ethernet (10/100 Mbps), 1x RS-232, 1x RS-485, 1x CANopen, 1x USB (programming)
• Power Supply: 24V DC (nominal), 18V to 30V DC operating range
• Operating Temperature: 0°C to +55°C
• Storage Temperature: -20°C to +70°C
• Vibration Resistance: 5g (10–500 Hz) per IEC 60068-2-6
• Shock Resistance: 30g, 11 ms per IEC 60068-2-27
• Dimensions (W x H x D): 220 mm x 120 mm x 140 mm (approximate)
• Weight: Approximately 1.8 kg

Functional Features:

• 4-axis simultaneous interpolation with 256-block look-ahead
• Electronic cam (up to 32 cam tables)
• Electronic gear ratio (up to 16 gear tables)
• S-curve and trapezoidal acceleration profiles
• Jog, incremental, absolute, and continuous positioning modes
• Multi-reference home (index, limit switch, encoder Z, absolute encoder)
• IEC 61131-3 PLC programming: Ladder, FBD, SFC, ST, IL
• C-language macro programming for advanced motion algorithms
• FTP server, Web server, E-mail notification
• Data logging with timestamp (up to 10,000 records)
• PID control: up to 128 simultaneous loops
• Synchronized motion (cam following, flying shear, tandem axes)

Performance Parameters:

• Simultaneous Axes: 4 axes at full speed with continuous path control
• Maximum Contouring Speed: 150 m/min (dependent on axis tuning)
• Following Error Tolerance: 1 to 100,000 encoder counts (configurable)
• Servo Loop Update Rate: 1 kHz (1 ms), 2 kHz (500 µs), or 4 kHz (250 µs)
• Jerk Limitation: Fully configurable jerk control (3rd-order motion profile)
• Program Scan Time: < 0.3 ms for 2000 ladder rungs
• Interpolation Accuracy: ±0.5 encoder counts (at 1 ms cycle)

Material Composition:

• Housing: Aluminum alloy extrusion with black anodized finish (IP54 optional with gasket)
• PCB: 8-layer FR-4 with impedance-controlled differential pairs for encoder signals
• Connectors: Hirose DF40 series (encoders), Phoenix Contact (I/O), RJ45 (Ethernet)
• Display: 4.3″ color TFT LCD with touch panel (optional front panel)
• Enclosure Rating: IP20 standard, IP54 with optional sealed enclosure kit

Structural Features:

• Front panel with color LCD display and touch navigation
• 8 status LEDs: Power, Run, Fault, Axis 1–4 Active
• 4x high-speed differential encoder inputs (A+/A−, B+/B−, Z+/Z−)
• 2x RS-485 ports (servo drive communication)
• 2x Ethernet ports (programming + HMI/SCADA)
• USB port for program upload/download
• DIN rail or panel mount with M4 bracket holes
• Expansion bus connector for remote I/O

Working Principle:
The MM-PMC2-400 uses a dual-processor architecture: a high-speed DSP handles motion control at a fixed cycle (1 ms / 500 µs / 250 µs), while a separate RISC processor executes the PLC program and communication tasks. The motion engine computes trajectory setpoints for all 4 axes using real-time interpolation algorithms (linear, circular, 3D, polynomial). These setpoints are sent to servo drives via high-speed pulse outputs or analog commands. The look-ahead buffer (256 blocks) allows the controller to anticipate upcoming path changes, reducing following error and enabling smoother high-speed motion. The PLC processor and motion processor exchange data via dual-port RAM, ensuring tight synchronization between discrete logic and motion.

Advantages & Highlights:

• 4-Axis Simultaneous Motion: Full 4-axis interpolation with 256-block look-ahead
• Ultra-Fast Cycle: 250 µs option for highest-speed applications
• Integrated PLC + Motion: Eliminates need for separate PLC and motion controller
• Advanced Motion Features: Electronic cam, gearing, jerk control, synchronized axes
• Rich Connectivity: Dual Ethernet, CANopen, RS-485, USB, RS-232
• Color HMI: Built-in TFT display for local operation and diagnostics

Applicable Industries:

• 4-axis CNC milling and machining centers
• Laser cutting (4-axis beam positioning)
• Robot arm control (4-DOF articulated robots)
• Multi-head packaging and labeling machines
• Flying shear and cut-to-length with 4-axis synchronization
• Glass edge processing
• Semiconductor wafer handling

Installation Requirements:

• Mount on DIN rail (TS 35) or flat panel with M4 holes
• Connect encoder cables: shielded twisted-pair, differential RS-422, max 15 m (100 m with line driver)
• Connect servo drives via dedicated high-speed pulse cables (max 10 m recommended)
• Provide 24V DC power supply: minimum 8A capacity
• Ethernet cables: CAT5e or CAT6 shielded, max 100 m per segment
• Install in cabinet with ambient temperature below 55°C

Usage Precautions:

• Always perform 4-axis autotuning before running production programs
• Use shielded cables for all encoder signals — do not mix with power cables
• Do not exceed 4 simultaneous axes in interpolation mode
• Back up all programs and parameters before firmware updates
• Ensure adequate ventilation — internal temperature must not exceed 70°C