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              | Control Modes | 
                Indexer, Point-to-Point, PVTCamming, GearingPosition, Velocity, Torque |  
              | Command Interface | 
                CANopen, DevicenetASCII, discrete I/OStepper commands±10V position/velocity/torquePWM velocity/torqueMaster encoder |  
              | Communications |  |  
              | Feedback | 
                Digital quad A/B encoderAux. encoder / encoder out
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              | I/O - Digital | 12 inputs, 4 outputs |  
              | Dimensions:mm | 
                Stepnet AC: 146 x 119 x 55Panel: 138 x 78 x 39Module: 102 x 69 x 25Micro Module: 64 x 41 x 16 |  |