The Allen-Bradley 4100-214-PRL is an Integrated Motor Controller that uses a stand-alone platform. It also has an integrated packaging with 4 axes. It uses a serial port for standard communication. It also has several communication options including a serial port, an AxisLink, and a remote I/O. The 4100-214-PRL features a diagnostic panel option and operates on an input voltage of 90-132V AC or 175-264V AC. The module features 20 dedicated discrete inputs with 16 bits resolution and 5-40V DC I/O power input. This module has a logic controller and a stand-alone motion controller that are suitable for a large number of applications.

The 4100-214-PRL works in conjunction with feedback encoders and external drive systems to provide acceleration, deceleration, and velocity control and 2 or 4 axes of closed-loop point-to-point position with profile parabolic, trapezoidal, or S-curve configuration. They can also provide multi-axis linear or helical interpolation. It also has an electronic gearing feature which allows any axis to be joined or slaved to another at a programmable ratio. This module features an electronic cam which provides coordinated motion profiles. These coordinated motion profiles are a position of another axis or functions of time. The discrete I/O blocks in this module can substitute the analog I/O to increase I/O flexibility.

The 4100-214-PRL module exhibits digital motion control which has numerous advantages over other control techniques including the conventional analog servo. The digital feedback that has been incorporated into this module eliminates the requirement of potentiometers in the control loop to control drift and labor. The digital servo loop that is microprocessor-designed helps in reducing the system’s parts count. It also increases the reliability of the system and also the control flexibility. Velocity feedforward has also been provided to help with the minimization of the intrinsic that result because of the positioning loop error during the movement of the motor.