The Emerson IC200UMM002 is a two-axis motion expansion module for the VersaMax Micro PLC platform. Designed to plug into Micro 20, 40, or 64 base controllers, it adds stepper and servo positioning capability — generating up to 500k pulse/s per axis with line driver outputs at 5V or 24VDC levels, plus differential encoder feedback — while appearing as two expansion units on the I/O bus.

What motion control capabilities does the IC200UMM002 add?

Each of the two independent axes can output pulse trains in either CW/CCW (pulse column) or clock/direction format, with programmable speeds from 6.25 to 500,000 pulses per second. Acceleration profiles support both linear and S-curve ramps, with independently configurable accel/decel rates from 1 to 50 million units per second². Positioning supports absolute and incremental moves across a range of ±2.147 billion pulses, with backlash correction (0–65,535 units) and programmable dwell times (0–65,535ms). A follower mode lets Axis A track Axis B or vice versa within the same module — useful for electronically geared conveyor or winding applications.

How does homing and registration work?

Four homing methods are available: free homing, low-speed homing, high-speed homing on the OFF edge, and high-speed homing with marker stop. Differential encoder inputs (A, B, and Z channels) provide closed-loop position verification and high-speed input registration with windowing support. Up to 256 moves can be stored in non-volatile memory on the module, and a portable memory device option allows move tables to be transferred between modules without reprogramming.

Can the IC200UMM002 operate without a Micro PLC?

Yes — the module can function as a standalone motion controller via Modbus Slave over RS-232, RS-485, or Ethernet. In this mode, a host system (HMI, PC, or third-party PLC) sends positioning commands over Modbus registers, and the IC200UMM002 executes the moves independently. When used with a Micro 20/40/64 base controller, up to two motion modules can be installed, with one motion module leaving room for two additional discrete or analog expansion units. Firmware 3.8 or higher is required on the host Micro controller.