The Allen-Bradley 4100-204 IMC S/23x Class 4-Axis Compact Motion controller is a microprocessor-based 4 Axis motion controller with a compact and rugged design, which provides programmable and stand-alone motion and logic control in different industrial applications. The 4100-204 provides 4-Axis closed looped point-to-point position with speed profiling, and it has electronic gearing and cam features which allow for the slaving of any available Axis, and the coordination of motion profiles as a function of time and the positioning of a nearby axis. It is designed with a 16 MHz Intel 80960SB processor with a 32KB write lockable, 10-year battery-backed RAM, and with about 2,000 user-defined variables stored as 64-bit floating point numbers. It has an AC input voltage range of 90 to 132V AC or 175 to 264V AC at 47 to 63Hz input line frequency, and it provides short-circuit protection by using 3A dual element time delay slow blow fuse. The 4100-204 IMC has about 26,000 Electronic Cam points, with an I/O input voltage range of 18 to 36V DC, and it uses 4 input Incremental Encoders with 4X Quadrature, Step/Direction, and Count Up/Count Down decode modes.

The 4100-204 has 4 isolated voltage or current outputs, 16-bit Analog servo outputs with ±10V DC or ±150 µA control, and with 220Ω resistive impedance for the voltage output and with 56Ω maximum load impedance for the current output. It has 2 (Serial ports A and B) dedicated Serial communication ports which can be configured for either RS-232C, RS-422, or Allen-Bradley DH-485 communications, and it has a loop update rate of 250Hz to 2 kHz. The 4100-204 has 4 MHz feedback counting rate, which allows for high-speed operation without leveraging resolution, and it has a speed range of 0.00001 based on 4 MHz per second feedback count. It has an Accel/Deccel range of 0.00001 feedback counts per 4 MHz feedback counts per second, with an Electronic Gearing range of 0.00001:1 to 9.99999:1 (slave count to master count ratio), and it offers a selectable output limit range of 0 to 100%. Its operating temperature range is -40 to 70°C (-40 to 158°F) at 5 to 95% relative humidity (non-condensing), and it has a storage temperature of 0 to 50°C (32 to 122°F). The 4100-204 has mounting dimensions of 330.2mm x 155.7mm x 342.9mm, and it weighs approximately 7.7Kg.