Control Modes   Indexer, Point-to-Point, PVT Camming, Gearing Position, Velocity, Torque   Command Interface   CANopen, Devicenet ASCII, discrete I/O Stepper commands -±10V position/velocity/torque -PWM velocity/torque -Master encoder   Communications   CANopen/Devicenet RS-232   Feedback Digital quad A/B enc oder Aux. encoder / encoder out Analog sin/cos encoder option Resolver option Digital Halls   I/O - Digital   11 - 14 inputs, 4 outputs   Dimensions: mm   Panel: 191 x 140 x 64 Micro Panel: 126 x 90 x 53   Dimensions: in   Panel: 7.5 x 5.5 x 2.5 Micro Panel: 5.0 x 3.5 x 2.1		Micro Panel VAC Ic Ip XSJ-230-02 100-240 1 2 XSJ-230-06 100-240 3 6 XSJ-230-10 100-240 5 10         Panel VAC Ic Ip XTL-230-18 100-240 6 18 XTL-230-36 100-240 12 36 XTL-230-40 100-240 20 40