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 encoder Aux. encoder / encoder out Analog sin/cos encoder option Resolver option Digital Halls   I/O - Digital   11 - 14 inputs, 4 outputs   Dimensions: mm Panel: 168 x 99 x 31 Micro Panel: 97 x 64 x 33 Module: 102 x 69 x 25 Micro Module: 64 x 41 x 16 Dimensions: in Panel: 6.6 x 3.9 x 1.2 Micro Panel: 3.8 x 2.5 x 1.3 Module: 4.0 x 2.7 x 1.0 Micro Module: 2.5 x 1.6 x 0.6		Panel VDC Ic Ip ADP-055-18 20-55 6 18 ADP-090-09 20-90 3 9 ADP-090-18 20-90 6 18 ADP-090-36 20-90 12 36 ADP-180-09 20-180 3 9 ADP-180-18 20-180 6 18     Micro Panel VDC Ic Ip ACJ-055-09 20-55 3 9 ACJ-055-18 20-55 6 18 ACJ-090-03 20-90 1 3 ACJ-090-09 20-90 3 9 ACJ-090-12 20-90 6 12     Module VDC Ic Ip ACM-055-18 20-55 6 18 ACM-090-09 20-90 3 6 ACM-180-09 20-180 3 9 ACM-180-18 20-180 6 18 ACM-180-20 20-180 10 20