Indexer, Point-to-Point, PVT
Camming, Gearing, Position, Velocity, Torque

CANopen/DeviceNet
ASCII and discrete I/O
Stepper commands
+/-10V velocity and torque command
PWM velocity and torque command
Master encoder (electronic gearing)

CAN
RS232

Digital quad A/B encoder
Secondary encoder / emulated encoder out
Analog sin/cos encoder
Resolver (-R version)
Digital Halls

12 inputs, 4 outputs

Panel: external resistor dissipation
Micro Panel: internal dissipation

External regen resisitors
External edge filter

Panel: 191 x 140 x 64 mm [7.5 x 5.5 x 2.5 in]
Micro Panel: 126 x 90 x 53 mm [5.0 x 3.5 x 2.1 in]