Ethernet 10/100 Base-T with auto-negotiate function （10/100Base-F optional; Two RS232/422 ports up to

   115kb.
• Ethernet supports multiple masters and multiple slaves allowing communication with multiple computers and

   I/O devices
• Supports Modbus protocol for communication with I/O devices
• Accepts up to 12 MHz encoder frequencies for servos and 3 MHz for steppers
• PID compensation with velocity and acceleration feedforward, integration limits, notch filter and low-pass

   filter.
• Modes of motion include jogging, point-to-point positioning, contouring, linear and circular interpolation,

   electronic gearing and ECAM
• Multitasking for concurrent execution of up to eight application programs
• Non-volatile memory for application programs, variables and arrays
• Dual encoders, home input and forward and reverse limits accepted for every axis
• 8 uncommitted inputs and 8 outputs for 1- through 4-axes models; 16 inputs and 16 outputs for 5- through

   8-axis models
• 8 uncomitted analog inputs
• 64 configurable I/O. Use IOC-7007 for additional I/O & Analog Expansion
• High speed position latch and output compare
• High-density shielded cables and optical isolation for noise immunity
• 12.1" x 2.2" x 6.3" metal enclosure; Accepts 90-250V AC
• Custom hardware and firmware options available