Card-level controller in 1 through 8 axes versions User configurable for stepper or servo motors on any combination of axesEthernet 10Base-T port19.2kb RS232 portEthernet supports multiple masters and multiple slavesTCP/IP, UDP and ModBus TCP master protocol for communication with I/O devicesAccepts encoder frequencies up to 12 MHz for servos and outputs up to 3 MHz for steppersPID compensation with velocity and acceleration feedforwardIntegration limits, notch filter and low-pass filterModes of motion include jogging, point-to-point positioningContouring, linear and circular interpolation, electronic gearing and ECAMMultitasking for concurrent execution of up to eight application programsNon-volatile memory for application programs, variables and arraysDual encoders for every servo axisHome input and forward and reverse limits accepted for every axisHigh speed position latch and output compare for each axis8 TTL uncommitted inputs and 8 outputs Optically isolated I/O and 500 mA high side ouputs available with ICM-
