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SKU 2176121  UPC 0799705792883


MSRP $10994

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Technical Specifications for IC693APU301

ManufacturerGE Fanuc
SeriesSeries 90-30
Part NumberIC693APU301
Product TypeAxis-positioning module
Number of Axes1
Servo Loop Update Time1 millisecond
SoftwareVersaPro Software
Standard Operating ModeSupported
Follower Operating ModeSupported
Axis Control MethodLogic

Product Description

IC693APU301 is a Single Axis Positioning Module (APM) for the GE Series 90-30. The Motion Mate APM is a simple to use, fully programmable, intelligent motion control module. Created specifically for the Series 90-30 PLC, this axis positioning module lets the PLC user mix high performance control with PLC logic solving functions in a single combined system. IC693APU301 is configurable to either a standard or follower mode depending on the needs of the user. Standard mode permits the user to mix high performance motion control with PLC logic solving functions. Additionally, in follower mode, high performance electronic gearing is available for continual master/slave applications. Whichever option the user chooses can be easily selected through set-up configuration with the appropriate software.

The Series 90-30 and IC693APU301 operate together as an integrated control package with the APM handling all direct communications to both the drive and machine. The PLC automatically transfers data between the tables and the APM. Additionally, the PLC offers a way to connect O/I which can control and monitor operations within the system.  This APM can be installed in any of the Series 90-30 CPU, remote baseplate, or expansion for use. For the embedded CPU, it is possible to add up to three APM modules and for the modular CPU, up to eight can be added. Additionally, multiple motion programs can be created and stored in the APM with the correct software package. Use of the VersaPro software is recommended.  The APM faceplate has two 24 pin connectors of high density for servo connections. To make wiring easier, each connection is made through a short cable terminal block with the cables consisting of a 24 pin I/O connector, a cable, and a 25 pin terminal block of D-type. Various connector kits are available for order.

The IC693APU301 module is an axis-positioning module that can be used to position 1 axis from GE Fanuc. It has been designed and manufactured in the Series 90-30 line of GE modules. The IC693APU301 axis-positioning module is completely programmable and it is designed to be easy to use. The servo loops in this module only take 1 millisecond to update. The software that the IC693APU301 axis-positioning module uses is the VersaPro software in version 1.1 or later. This module is made to be employed as part of a GE Series 90-30 PLC system. The operating modes that the IC693APU301 axis-positioning module can support are the standard operating mode and the follower operating mode. The follower operating mode can support continuous applications with its electronic gearing.


The GE Fanuc Series 90-30 IC693APU301 axis-positioning module can automatically transfer data to and from the Series 90-30 PLC that it is installed in during operation. This module should be installed in either the CPU baseplate or an expansion baseplate in the PLC. The 331 series GE CPUs can support up to 8 axis-positioning modules like the IC693APU301 module in 1 PLC system, and up to 3 axis-positioning modules can be installed in 1 baseplate in the system. The IC693APU301 axis-positioning module uses logic to detect the precise position of the PLC’s axis and to compare its position to the position that is required by the commands or programming of an application. This module acts as the interface between the axis that it controls and the PLC system.

Technical Information

High Performance

  • Fast Servo Loop Update (1 ms for IC693APU301, 2 ms for IC693APU302).
  • Block Processing time under 5
  • elocity Feed forward and Position Error Integrator to enhance tracking
  • High resolution of programming units. Position: -8,388,608...+8,388,607 User Units Velocity: 1 ... 8,388,607 User Units / sec Acceleration: 1 .. 134,217,727 User Units / sec / sec


Easy to Use

  • Simple and powerful Motion Program instruction
  • Simple 1- or 2-axis motion programs with synchronized block
  • Program support for a short motion program which can be created in Logicmaster 90 configuration
  • Non-volatile storage for 10 programs and 40
  • Motion Programmer Status Screen for servo



Troubleshooting IC693APU301

Troubleshooting information is available on IC693APU301's website page; it also includes a datasheet user-manual and a wiring diagram.  

Repair your IC693APU301

PDF Supply can repair your IC693APU301 in 3-5 business days. And PDF Supply stands by all of its repairs with a 1 year customer satisfaction warranty.



Customer Questions and Answers

  • Question:  What is an IC693APU301?  Answer:  The IC693APU301 is a Motion Mate Axis Positioning Module. For the Series 90-30, the IC693APU301 is an intelligent, fully programmable 1-axis motion control module. 
  • Question:  What does the IC693APU301 allow you to do?  Answer:  The IC693APU301 lets you merge high-performance control with PLC logic solving capabilities into one unified system.
  • Question:  What are the 2 configuration modes for this module?  Answer:  You can configure the IC693APU301 to run in either Standard mode or Follower mode. 
  • Question:  What does the IC693APU301 do in Standard mode?  Answer:  The IC693APU301's Standard mode mixes high-performance motion control with PLC logic solving capabilities into one unified system. 
  • Question:  What does the IC693APU301 do in Follower mode?  Answer:  The IC693APU301's Follower mode gives you high performance "electronic gearing" for uninterrupted parent/child applications. 
  •  Question:  If Position Valid is not set at power up, what will happen?  Answer:  An error code 0x53h or 0x54h (x = axis number 1 or 2) will be reported. 
  • Question:  What does error code 53h indicate?  Answer:  This error code indicates that the serial encoder has not been rotated past the zero reference point since the encoder power was applied.
  • Question:  What does error code 54h indicate?  Answer:  This error code indicates that the serial encoder has been referenced but a valid absolute position has not yet been established for the system. 
  • Question:  What if my IC693APU301 is not working correctly?  Answer:  Then your product may be in need of repair

For more information on the IC693APU301 Axis Positioning Module of the GE 90-30 Series, please see the Datasheet Manual.


IC693APU301N (firmware version 2.80)

IC693APU301M (firmware version 2.70)

IC693APU301L (firmware version 2.60)

IC693APU301K (firmware version 2.50)

                             IC693APU301J  (firmware version 2.11)

IC693APU301H (firmware version 2.02)

IC693APU301G (firmware version 2.02)

IC693APU301F (firmware version 2.02)

IC693APU301E (firmware version 2.02)

IC693APU301D (firmware version 1.10)

IC693APU301C (firmware version 1.10)

IC693APU301B (firmware version 1.00)

IC693APU301A (firmware version 1.00)

ST. LOUIS, Feb. 1, 2019 – Emerson today announced it has completed the purchase of Intelligent Platforms from General Electric.

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